arXiv subjects

Qiaozi Gao

Publications and source records attributed to Qiaozi Gao.

24 records · Page 2Linked to original sources

arXiv2021

LUMINOUS: Indoor Scene Generation for Embodied AI Challenges

Learning-based methods for training embodied agents typically require a large number of high-quality scenes that contain realistic layouts and support meaningful interactions. However, current simulators for Embodied AI (EAI) challenges only provide simulated indoor scenes with a limited number of layouts. This paper presents Luminous, the first research framework that employs state-of-the-art indoor scene synthesis algorithms to generate large-scale simulated scenes for Embodied AI challenges. Further, we automatically and quantitatively evaluate the quality of generated indoor scenes via their ability to support complex household tasks. Luminous incorporates a novel scene generation algorithm (Constrained Stochastic Scene Generation (CSSG)), which achieves competitive performance with human-designed scenes. Within Luminous, the EAI task executor, task instruction generation module, and video rendering toolkit can collectively generate a massive multimodal dataset of new scenes for the training and evaluation of Embodied AI agents. Extensive experimental results demonstrate the effectiveness of the data generated by Luminous, enabling the comprehensive assessment of embodied agents on generalization and robustness.

cs.AI↗

arXiv2021

Embodied BERT: A Transformer Model for Embodied, Language-guided Visual Task Completion

Language-guided robots performing home and office tasks must navigate in and interact with the world. Grounding language instructions against visual observations and actions to take in an environment is an open challenge. We present Embodied BERT (EmBERT), a transformer-based model which can attend to high-dimensional, multi-modal inputs across long temporal horizons for language-conditioned task completion. Additionally, we bridge the gap between successful object-centric navigation models used for non-interactive agents and the language-guided visual task completion benchmark, ALFRED, by introducing object navigation targets for EmBERT training. We achieve competitive performance on the ALFRED benchmark, and EmBERT marks the first transformer-based model to successfully handle the long-horizon, dense, multi-modal histories of ALFRED, and the first ALFRED model to utilize object-centric navigation targets.

cs.CV↗

arXiv2021

Are We There Yet? Learning to Localize in Embodied Instruction Following

Embodied instruction following is a challenging problem requiring an agent to infer a sequence of primitive actions to achieve a goal environment state from complex language and visual inputs. Action Learning From Realistic Environments and Directives (ALFRED) is a recently proposed benchmark for this problem consisting of step-by-step natural language instructions to achieve subgoals which compose to an ultimate high-level goal. Key challenges for this task include localizing target locations and navigating to them through visual inputs, and grounding language instructions to visual appearance of objects. To address these challenges, in this study, we augment the agent's field of view during navigation subgoals with multiple viewing angles, and train the agent to predict its relative spatial relation to the target location at each timestep. We also improve language grounding by introducing a pre-trained object detection module to the model pipeline. Empirical studies show that our approach exceeds the baseline model performance.

cs.AI↗

arXiv2020

Interactive Teaching for Conversational AI

Current conversational AI systems aim to understand a set of pre-designed requests and execute related actions, which limits them to evolve naturally and adapt based on human interactions. Motivated by how children learn their first language interacting with adults, this paper describes a new Teachable AI system that is capable of learning new language nuggets called concepts, directly from end users using live interactive teaching sessions. The proposed setup uses three models to: a) Identify gaps in understanding automatically during live conversational interactions, b) Learn the respective interpretations of such unknown concepts from live interactions with users, and c) Manage a classroom sub-dialogue specifically tailored for interactive teaching sessions. We propose state-of-the-art transformer based neural architectures of models, fine-tuned on top of pre-trained models, and show accuracy improvements on the respective components. We demonstrate that this method is very promising in leading way to build more adaptive and personalized language understanding models.

cs.CL↗

arXiv2020

Recent Advances in Natural Language Inference: A Survey of Benchmarks, Resources, and Approaches

In the NLP community, recent years have seen a surge of research activities that address machines' ability to perform deep language understanding which goes beyond what is explicitly stated in text, rather relying on reasoning and knowledge of the world. Many benchmark tasks and datasets have been created to support the development and evaluation of such natural language inference ability. As these benchmarks become instrumental and a driving force for the NLP research community, this paper aims to provide an overview of recent benchmarks, relevant knowledge resources, and state-of-the-art learning and inference approaches in order to support a better understanding of this growing field.

cs.CL↗

arXiv2017

Interactive Learning of State Representation through Natural Language Instruction and Explanation

One significant simplification in most previous work on robot learning is the closed-world assumption where the robot is assumed to know ahead of time a complete set of predicates describing the state of the physical world. However, robots are not likely to have a complete model of the world especially when learning a new task. To address this problem, this extended abstract gives a brief introduction to our on-going work that aims to enable the robot to acquire new state representations through language communication with humans.

cs.AI↗