Domain transfer for deep natural language generation from abstract meaning representations

Stochastic natural language generation systems that are trained from labelled datasets are often domainspecific in their annotation and in their mapping from semantic input representations to lexical-syntactic outputs. As a result, learnt models fail to generalize across domains, heavily restricting their usability beyond single applications. In this article, we focus on the problem of domain adaptation for natural language generation. We show how linguistic knowledge from a source domain, for which labelled data is available, can be adapted to a target domain by reusing training data across domains. As a key to this, we propose to employ abstract meaning representations as a common semantic representation across domains. We model natural language generation as a long short-term memory recurrent neural network encoderdecoder, in which one recurrent neural network learns a latent representation of a semantic input, and a second recurrent neural network learns to decode it to a sequence of words. We show that the learnt representations can be transferred across domains and can be leveraged effectively to improve training on new unseen domains. Experiments in three different domains and with six datasets demonstrate that the lexical-syntactic constructions learnt in one domain can be transferred to new domains and achieve up to 75-100% of the performance of in-domain training. This is based on objective metrics such as BLEU and semantic error rate and a subjective human rating study. Training a policy from prior knowledge from a different domain is consistently better than pure in-domain training by up to 10%

Place Categorization and Semantic Mapping on a Mobile Robot

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system upon a state-of-the-art convolutional network. We overcome its closed-set limitations by complementing the network with a series of one-vs-all classifiers that can learn to recognize new semantic classes online. Prior domain knowledge is incorporated by embedding the classification system into a Bayesian filter framework that also ensures temporal coherence. We evaluate the classification accuracy of the system on a robot that maps a variety of places on our campus in real-time. We show how semantic information can boost robotic object detection performance and how the semantic map can be used to modulate the robot's behaviour during navigation tasks. The system is made available to the community as a ROS module

Integrating mobile robotics and vision with undergraduate computer science

This paper describes the integration of robotics education into an undergraduate Computer Science curriculum. The proposed approach delivers mobile robotics as well as covering the closely related field of Computer Vision, and is directly linked to the research conducted at the authors’ institution. The paper describes the most relevant details of the module content and assessment strategy, paying particular attention to the practical sessions using Rovio mobile robots. The specific choices are discussed that were made with regard to the mobile platform, software libraries and lab environment. The paper also presents a detailed qualitative and quantitative analysis of student results, including the correlation between student engagement and performance, and discusses the outcomes of this experience

Crossmodal Attentive Skill Learner

This paper presents the Crossmodal Attentive Skill Learner (CASL), integrated with the recently-introduced Asynchronous Advantage Option-Critic (A2OC) architecture [Harb et al., 2017] to enable hierarchical reinforcement learning across multiple sensory inputs. We provide concrete examples where the approach not only improves performance in a single task, but accelerates transfer to new tasks. We demonstrate the attention mechanism anticipates and identifies useful latent features, while filtering irrelevant sensor modalities during execution. We modify the Arcade Learning Environment [Bellemare et al., 2013] to support audio queries, and conduct evaluations of crossmodal learning in the Atari 2600 game Amidar. Finally, building on the recent work of Babaeizadeh et al. [2017], we open-source a fast hybrid CPU-GPU implementation of CASL.Comment: International Conference on Autonomous Agents and Multiagent Systems (AAMAS) 2018, NIPS 2017 Deep Reinforcement Learning Symposiu