arXiv subjects

Jianfeng Gao

Publications and source records attributed to Jianfeng Gao.

At least 307 records · Page 17Linked to original sources

arXiv2020

Learning Compliance Adaptation in Contact-Rich Manipulation

Compliant robot behavior is crucial for the realization of contact-rich manipulation tasks. In such tasks, it is important to ensure a high stiffness and force tracking accuracy during normal task execution as well as rapid adaptation and complaint behavior to react to abnormal situations and changes. In this paper, we propose a novel approach for learning predictive models of force profiles required for contact-rich tasks. Such models allow detecting unexpected situations and facilitates better adaptive control. The approach combines an anomaly detection based on Bidirectional Gated Recurrent Units (Bi-GRU) and an adaptive force/impedance controller. We evaluated the approach in simulated and real world experiments on a humanoid robot.The results show that the approach allow simultaneous high tracking accuracy of desired motions and force profile as well as the adaptation to force perturbations due to physical human interaction.

cs.RO↗

arXiv2020

ConvLab-2: An Open-Source Toolkit for Building, Evaluating, and Diagnosing Dialogue Systems

We present ConvLab-2, an open-source toolkit that enables researchers to build task-oriented dialogue systems with state-of-the-art models, perform an end-to-end evaluation, and diagnose the weakness of systems. As the successor of ConvLab (Lee et al., 2019b), ConvLab-2 inherits ConvLab's framework but integrates more powerful dialogue models and supports more datasets. Besides, we have developed an analysis tool and an interactive tool to assist researchers in diagnosing dialogue systems. The analysis tool presents rich statistics and summarizes common mistakes from simulated dialogues, which facilitates error analysis and system improvement. The interactive tool provides a user interface that allows developers to diagnose an assembled dialogue system by interacting with the system and modifying the output of each system component.

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arXiv2020

Adversarial Training for Large Neural Language Models

Generalization and robustness are both key desiderata for designing machine learning methods. Adversarial training can enhance robustness, but past work often finds it hurts generalization. In natural language processing (NLP), pre-training large neural language models such as BERT have demonstrated impressive gain in generalization for a variety of tasks, with further improvement from adversarial fine-tuning. However, these models are still vulnerable to adversarial attacks. In this paper, we show that adversarial pre-training can improve both generalization and robustness. We propose a general algorithm ALUM (Adversarial training for large neural LangUage Models), which regularizes the training objective by applying perturbations in the embedding space that maximizes the adversarial loss. We present the first comprehensive study of adversarial training in all stages, including pre-training from scratch, continual pre-training on a well-trained model, and task-specific fine-tuning. ALUM obtains substantial gains over BERT on a wide range of NLP tasks, in both regular and adversarial scenarios. Even for models that have been well trained on extremely large text corpora, such as RoBERTa, ALUM can still produce significant gains from continual pre-training, whereas conventional non-adversarial methods can not. ALUM can be further combined with task-specific fine-tuning to attain additional gains. The ALUM code is publicly available at https://github.com/namisan/mt-dnn.

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arXiv2020

Towards Learning a Generic Agent for Vision-and-Language Navigation via Pre-training

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper, we present the first pre-training and fine-tuning paradigm for vision-and-language navigation (VLN) tasks. By training on a large amount of image-text-action triplets in a self-supervised learning manner, the pre-trained model provides generic representations of visual environments and language instructions. It can be easily used as a drop-in for existing VLN frameworks, leading to the proposed agent called Prevalent. It learns more effectively in new tasks and generalizes better in a previously unseen environment. The performance is validated on three VLN tasks. On the Room-to-Room benchmark, our model improves the state-of-the-art from 47% to 51% on success rate weighted by path length. Further, the learned representation is transferable to other VLN tasks. On two recent tasks, vision-and-dialog navigation and "Help, Anna!" the proposed Prevalent leads to significant improvement over existing methods, achieving a new state of the art.

cs.CV↗

arXiv2020

Multi-View Learning for Vision-and-Language Navigation

Learning to navigate in a visual environment following natural language instructions is a challenging task because natural language instructions are highly variable, ambiguous, and under-specified. In this paper, we present a novel training paradigm, Learn from EveryOne (LEO), which leverages multiple instructions (as different views) for the same trajectory to resolve language ambiguity and improve generalization. By sharing parameters across instructions, our approach learns more effectively from limited training data and generalizes better in unseen environments. On the recent Room-to-Room (R2R) benchmark dataset, LEO achieves 16% improvement (absolute) over a greedy agent as the base agent (25.3% $\rightarrow$ 41.4%) in Success Rate weighted by Path Length (SPL). Further, LEO is complementary to most existing models for vision-and-language navigation, allowing for easy integration with the existing techniques, leading to LEO+, which creates the new state of the art, pushing the R2R benchmark to 62% (9% absolute improvement).

cs.CL↗

arXiv2020

Challenges in Building Intelligent Open-domain Dialog Systems

There is a resurgent interest in developing intelligent open-domain dialog systems due to the availability of large amounts of conversational data and the recent progress on neural approaches to conversational AI. Unlike traditional task-oriented bots, an open-domain dialog system aims to establish long-term connections with users by satisfying the human need for communication, affection, and social belonging. This paper reviews the recent works on neural approaches that are devoted to addressing three challenges in developing such systems: semantics, consistency, and interactiveness. Semantics requires a dialog system to not only understand the content of the dialog but also identify user's social needs during the conversation. Consistency requires the system to demonstrate a consistent personality to win users trust and gain their long-term confidence. Interactiveness refers to the system's ability to generate interpersonal responses to achieve particular social goals such as entertainment, conforming, and task completion. The works we select to present here is based on our unique views and are by no means complete. Nevertheless, we hope that the discussion will inspire new research in developing more intelligent dialog systems.

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arXiv2020

UniLMv2: Pseudo-Masked Language Models for Unified Language Model Pre-Training

We propose to pre-train a unified language model for both autoencoding and partially autoregressive language modeling tasks using a novel training procedure, referred to as a pseudo-masked language model (PMLM). Given an input text with masked tokens, we rely on conventional masks to learn inter-relations between corrupted tokens and context via autoencoding, and pseudo masks to learn intra-relations between masked spans via partially autoregressive modeling. With well-designed position embeddings and self-attention masks, the context encodings are reused to avoid redundant computation. Moreover, conventional masks used for autoencoding provide global masking information, so that all the position embeddings are accessible in partially autoregressive language modeling. In addition, the two tasks pre-train a unified language model as a bidirectional encoder and a sequence-to-sequence decoder, respectively. Our experiments show that the unified language models pre-trained using PMLM achieve new state-of-the-art results on a wide range of natural language understanding and generation tasks across several widely used benchmarks.

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arXiv2020

Few-shot Natural Language Generation for Task-Oriented Dialog

As a crucial component in task-oriented dialog systems, the Natural Language Generation (NLG) module converts a dialog act represented in a semantic form into a response in natural language. The success of traditional template-based or statistical models typically relies on heavily annotated data, which is infeasible for new domains. Therefore, it is pivotal for an NLG system to generalize well with limited labelled data in real applications. To this end, we present FewShotWoz, the first NLG benchmark to simulate the few-shot learning setting in task-oriented dialog systems. Further, we develop the SC-GPT model. It is pre-trained on a large set of annotated NLG corpus to acquire the controllable generation ability, and fine-tuned with only a few domain-specific labels to adapt to new domains. Experiments on FewShotWoz and the large Multi-Domain-WOZ datasets show that the proposed SC-GPT significantly outperforms existing methods, measured by various automatic metrics and human evaluations.

cs.CL↗

arXiv2020

What Makes A Good Story? Designing Composite Rewards for Visual Storytelling

Previous storytelling approaches mostly focused on optimizing traditional metrics such as BLEU, ROUGE and CIDEr. In this paper, we re-examine this problem from a different angle, by looking deep into what defines a realistically-natural and topically-coherent story. To this end, we propose three assessment criteria: relevance, coherence and expressiveness, which we observe through empirical analysis could constitute a "high-quality" story to the human eye. Following this quality guideline, we propose a reinforcement learning framework, ReCo-RL, with reward functions designed to capture the essence of these quality criteria. Experiments on the Visual Storytelling Dataset (VIST) with both automatic and human evaluations demonstrate that our ReCo-RL model achieves better performance than state-of-the-art baselines on both traditional metrics and the proposed new criteria.

cs.CL↗

arXiv2020

Towards Amortized Ranking-Critical Training for Collaborative Filtering

Collaborative filtering is widely used in modern recommender systems. Recent research shows that variational autoencoders (VAEs) yield state-of-the-art performance by integrating flexible representations from deep neural networks into latent variable models, mitigating limitations of traditional linear factor models. VAEs are typically trained by maximizing the likelihood (MLE) of users interacting with ground-truth items. While simple and often effective, MLE-based training does not directly maximize the recommendation-quality metrics one typically cares about, such as top-N ranking. In this paper we investigate new methods for training collaborative filtering models based on actor-critic reinforcement learning, to directly optimize the non-differentiable quality metrics of interest. Specifically, we train a critic network to approximate ranking-based metrics, and then update the actor network (represented here by a VAE) to directly optimize against the learned metrics. In contrast to traditional learning-to-rank methods that require to re-run the optimization procedure for new lists, our critic-based method amortizes the scoring process with a neural network, and can directly provide the (approximate) ranking scores for new lists. Empirically, we show that the proposed methods outperform several state-of-the-art baselines, including recently-proposed deep learning approaches, on three large-scale real-world datasets. The code to reproduce the experimental results and figure plots is on Github: https://github.com/samlobel/RaCT_CF

cs.LG↗

arXiv2019

Unified Vision-Language Pre-Training for Image Captioning and VQA

This paper presents a unified Vision-Language Pre-training (VLP) model. The model is unified in that (1) it can be fine-tuned for either vision-language generation (e.g., image captioning) or understanding (e.g., visual question answering) tasks, and (2) it uses a shared multi-layer transformer network for both encoding and decoding, which differs from many existing methods where the encoder and decoder are implemented using separate models. The unified VLP model is pre-trained on a large amount of image-text pairs using the unsupervised learning objectives of two tasks: bidirectional and sequence-to-sequence (seq2seq) masked vision-language prediction. The two tasks differ solely in what context the prediction conditions on. This is controlled by utilizing specific self-attention masks for the shared transformer network. To the best of our knowledge, VLP is the first reported model that achieves state-of-the-art results on both vision-language generation and understanding tasks, as disparate as image captioning and visual question answering, across three challenging benchmark datasets: COCO Captions, Flickr30k Captions, and VQA 2.0. The code and the pre-trained models are available at https://github.com/LuoweiZhou/VLP.

cs.CV↗

arXiv2019

Implicit Deep Latent Variable Models for Text Generation

Deep latent variable models (LVM) such as variational auto-encoder (VAE) have recently played an important role in text generation. One key factor is the exploitation of smooth latent structures to guide the generation. However, the representation power of VAEs is limited due to two reasons: (1) the Gaussian assumption is often made on the variational posteriors; and meanwhile (2) a notorious "posterior collapse" issue occurs. In this paper, we advocate sample-based representations of variational distributions for natural language, leading to implicit latent features, which can provide flexible representation power compared with Gaussian-based posteriors. We further develop an LVM to directly match the aggregated posterior to the prior. It can be viewed as a natural extension of VAEs with a regularization of maximizing mutual information, mitigating the "posterior collapse" issue. We demonstrate the effectiveness and versatility of our models in various text generation scenarios, including language modeling, unaligned style transfer, and dialog response generation. The source code to reproduce our experimental results is available on GitHub.

cs.LG↗

arXiv2019

PIQA: Reasoning about Physical Commonsense in Natural Language

To apply eyeshadow without a brush, should I use a cotton swab or a toothpick? Questions requiring this kind of physical commonsense pose a challenge to today's natural language understanding systems. While recent pretrained models (such as BERT) have made progress on question answering over more abstract domains - such as news articles and encyclopedia entries, where text is plentiful - in more physical domains, text is inherently limited due to reporting bias. Can AI systems learn to reliably answer physical common-sense questions without experiencing the physical world? In this paper, we introduce the task of physical commonsense reasoning and a corresponding benchmark dataset Physical Interaction: Question Answering or PIQA. Though humans find the dataset easy (95% accuracy), large pretrained models struggle (77%). We provide analysis about the dimensions of knowledge that existing models lack, which offers significant opportunities for future research.

cs.CL↗

arXiv2019

The Eighth Dialog System Technology Challenge

This paper introduces the Eighth Dialog System Technology Challenge. In line with recent challenges, the eighth edition focuses on applying end-to-end dialog technologies in a pragmatic way for multi-domain task-completion, noetic response selection, audio visual scene-aware dialog, and schema-guided dialog state tracking tasks. This paper describes the task definition, provided datasets, and evaluation set-up for each track. We also summarize the results of the submitted systems to highlight the overall trends of the state-of-the-art technologies for the tasks.

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arXiv2019

Unified Language Model Pre-training for Natural Language Understanding and Generation

This paper presents a new Unified pre-trained Language Model (UniLM) that can be fine-tuned for both natural language understanding and generation tasks. The model is pre-trained using three types of language modeling tasks: unidirectional, bidirectional, and sequence-to-sequence prediction. The unified modeling is achieved by employing a shared Transformer network and utilizing specific self-attention masks to control what context the prediction conditions on. UniLM compares favorably with BERT on the GLUE benchmark, and the SQuAD 2.0 and CoQA question answering tasks. Moreover, UniLM achieves new state-of-the-art results on five natural language generation datasets, including improving the CNN/DailyMail abstractive summarization ROUGE-L to 40.51 (2.04 absolute improvement), the Gigaword abstractive summarization ROUGE-L to 35.75 (0.86 absolute improvement), the CoQA generative question answering F1 score to 82.5 (37.1 absolute improvement), the SQuAD question generation BLEU-4 to 22.12 (3.75 absolute improvement), and the DSTC7 document-grounded dialog response generation NIST-4 to 2.67 (human performance is 2.65). The code and pre-trained models are available at https://github.com/microsoft/unilm.

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arXiv2019

Learning Visual Relation Priors for Image-Text Matching and Image Captioning with Neural Scene Graph Generators

Grounding language to visual relations is critical to various language-and-vision applications. In this work, we tackle two fundamental language-and-vision tasks: image-text matching and image captioning, and demonstrate that neural scene graph generators can learn effective visual relation features to facilitate grounding language to visual relations and subsequently improve the two end applications. By combining relation features with the state-of-the-art models, our experiments show significant improvement on the standard Flickr30K and MSCOCO benchmarks. Our experimental results and analysis show that relation features improve downstream models' capability of capturing visual relations in end vision-and-language applications. We also demonstrate the importance of learning scene graph generators with visually relevant relations to the effectiveness of relation features.

cs.CV↗

arXiv2019

The Design and Implementation of XiaoIce, an Empathetic Social Chatbot

This paper describes the development of Microsoft XiaoIce, the most popular social chatbot in the world. XiaoIce is uniquely designed as an AI companion with an emotional connection to satisfy the human need for communication, affection, and social belonging. We take into account both intelligent quotient (IQ) and emotional quotient (EQ) in system design, cast human-machine social chat as decision-making over Markov Decision Processes (MDPs), and optimize XiaoIce for long-term user engagement, measured in expected Conversation-turns Per Session (CPS). We detail the system architecture and key components including dialogue manager, core chat, skills, and an empathetic computing module. We show how XiaoIce dynamically recognizes human feelings and states, understands user intent, and responds to user needs throughout long conversations. Since her launch in 2014, XiaoIce has communicated with over 660 million active users and succeeded in establishing long-term relationships with many of them. Analysis of large scale online logs shows that XiaoIce has achieved an average CPS of 23, which is significantly higher than that of other chatbots and even human conversations.

cs.HC↗

arXiv2019

Neural Approaches to Conversational AI

The present paper surveys neural approaches to conversational AI that have been developed in the last few years. We group conversational systems into three categories: (1) question answering agents, (2) task-oriented dialogue agents, and (3) chatbots. For each category, we present a review of state-of-the-art neural approaches, draw the connection between them and traditional approaches, and discuss the progress that has been made and challenges still being faced, using specific systems and models as case studies.

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