Active learning identifies data points to label that are expected to be the most useful in improving a supervised model. Opportunistic active learning incorporates active learning into interactive tasks that constrain possible queries during interactions. Prior work has shown that opportunistic active learning can be used to improve grounding of natural language descriptions in an interactive object retrieval task. In this work, we use reinforcement learning for such an object retrieval task, to learn a policy that effectively trades off task completion with model improvement that would benefit future tasks.
There are other works that employ various types of turn-taking interaction to learn models for language grounding. Some of these use a restricted vocabulary @cite_16 @cite_34 , or additional knowledge of predicates (for example that red'' is a color) @cite_9 . Others do not use active learning @cite_15 @cite_13 @cite_2 @cite_32 , or do not learn a policy that guides the interaction @cite_24 @cite_19 @cite_4 .
@cite_4 @cite_9 @cite_32 @cite_34 @cite_24 @cite_19 @cite_2 @cite_15 @cite_16 @cite_13
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We present an approach for acquiring grounded representations of words from mixed-initiative, situated interactions with a human instructor. The work focuses on the acquisition of diverse types of knowledge including perceptual, semantic, and procedural knowledge along with learning grounded meanings. Interactive learning allows the agent to control its learning by requesting instructions about unknown concepts, making learning efficient. Our approach has been instantiated in Soar and has been evaluated on a table-top robotic arm capable of manipulating small objects. A central problem in grounded language acquisition is learning the correspondences between a rich world state and a stream of text which references that world state. To deal with the high degree of ambiguity present in this setting, we present a generative model that simultaneously segments the text into utterances and maps each utterance to a meaning representation grounded in the world state. We show that our model generalizes across three domains of increasing difficulty---Robocup sportscasting, weather forecasts (a new domain), and NFL recaps. Grounded language learning bridges words like 'red' and 'square' with robot perception. The vast majority of existing work in this space limits robot perception to vision. In this paper, we build perceptual models that use haptic, auditory, and proprioceptive data acquired through robot exploratory behaviors to go beyond vision. Our system learns to ground natural language words describing objects using supervision from an interactive humanrobot "I Spy" game. In this game, the human and robot take turns describing one object among several, then trying to guess which object the other has described. All supervision labels were gathered from human participants physically present to play this game with a robot. We demonstrate that our multi-modal system for grounding natural language outperforms a traditional, vision-only grounding framework by comparing the two on the "I Spy" task. We also provide a qualitative analysis of the groundings learned in the game, visualizing what words are understood better with multimodal sensory information as well as identifying learned word meanings that correlate with physical object properties (e.g. 'small' negatively correlates with object weight). We focus on grounding (i.e., localizing or linking) referring expressions in images, e.g., "largest elephant standing behind baby elephant". This is a general yet challenging vision-language task since it does not only require the localization of objects, but also the multimodal comprehension of context - visual attributes (e.g., "largest", "baby") and relationships (e.g., "behind") that help to distinguish the referent from other objects, especially those of the same category. Due to the exponential complexity involved in modeling the context associated with multiple image regions, existing work oversimplifies this task to pairwise region modeling by multiple instance learning. In this paper, we propose a variational Bayesian method, called Variational Context, to solve the problem of complex context modeling in referring expression grounding. Our model exploits the reciprocal relation between the referent and context, i.e., either of them influences estimation of the posterior distribution of the other, and thereby the search space of context can be greatly reduced. We also extend the model to unsupervised setting where no annotation for the referent is available. Extensive experiments on various benchmarks show consistent improvement over state-of-the-art methods in both supervised and unsupervised settings. The code is available at https: github.com yuleiniu vc . n order for robots to engage in dialog with human teammates, they must have the ability to map between words in the language and aspects of the external world. A solution to this symbol grounding problem (Harnad, 1990) would enable a robot to interpret commands such as “Drive over to receiving and pick up the tire pallet.” In this article we describe several of our results that use probabilistic inference to address the symbol grounding problem. Our speciﬁc approach is to develop models that factor according to the linguistic structure of a command. We ﬁrst describe an early result, a generative model that factors according to the sequential structure of language, and then discuss our new framework, generalized grounding graphs (G3). The G3 framework dynamically instantiates a probabilistic graphical model for a natural language input, enabling a mapping between words in language and concrete objects, places, paths and events in the external world. We report on corpus-based experiments where the robot is able to learn and use word meanings in three real-world tasks: indoor navigation, spatial language video retrieval, and mobile manipulation. Knowledge base (KB) completion adds new facts to a KB by making inferences from existing facts, for example by inferring with high likelihood nationality(X,Y) from bornIn(X,Y). Most previous methods infer simple one-hop relational synonyms like this, or use as evidence a multi-hop relational path treated as an atomic feature, like bornIn(X,Z) -> containedIn(Z,Y). This paper presents an approach that reasons about conjunctions of multi-hop relations non-atomically, composing the implications of a path using a recursive neural network (RNN) that takes as inputs vector embeddings of the binary relation in the path. Not only does this allow us to generalize to paths unseen at training time, but also, with a single high-capacity RNN, to predict new relation types not seen when the compositional model was trained (zero-shot learning). We assemble a new dataset of over 52M relational triples, and show that our method improves over a traditional classifier by 11 , and a method leveraging pre-trained embeddings by 7 . As robots become more ubiquitous and capable, it becomes ever more important to enable untrained users to easily interact with them. Recently, this has led to study of the language grounding problem, where the goal is to extract representations of the meanings of natural language tied to perception and actuation in the physical world. In this paper, we present an approach for joint learning of language and perception models for grounded attribute induction. Our perception model includes attribute classifiers, for example to detect object color and shape, and the language model is based on a probabilistic categorial grammar that enables the construction of rich, compositional meaning representations. The approach is evaluated on the task of interpreting sentences that describe sets of objects in a physical workspace. We demonstrate accurate task performance and effective latent-variable concept induction in physical grounded scenes. Natural language meanings allow speakers to encode important real-world distinctions, but corpora of grounded language use also reveal that speakers categorize the world in different ways and describe situations with different terminology. To learn meanings from data, we therefore need to link underlying representations of meaning to models of speaker judgment and speaker choice. This paper describes a new approach to this problem: we model variability through uncertainty in categorization boundaries and distributions over preferred vocabulary. We apply the approach to a large data set of color descriptions, where statistical evaluation documents its accuracy. The results are available as a Lexicon of Uncertain Color Standards (LUX), which supports future efforts in grounded language understanding and generation by probabilistically mapping 829 English color descriptions to potentially context-sensitive regions in HSV color space. "Grounded" language learning employs training data in the form of sentences paired with relevant but ambiguous perceptual contexts. (2011) introduced an approach to grounded language learning based on unsupervised PCFG induction. Their approach works well when each sentence potentially refers to one of a small set of possible meanings, such as in the sportscasting task. However, it does not scale to problems with a large set of potential meanings for each sentence, such as the navigation instruction following task studied by Chen and Mooney (2011). This paper presents an enhancement of the PCFG approach that scales to such problems with highly-ambiguous supervision. Experimental results on the navigation task demonstrates the effectiveness of our approach. Grounded language learning, the task of mapping from natural language to a representation of meaning, has attracted more and more interest in recent years. In most work on this topic, however, utterances in a conversation are treated independently and discourse structure information is largely ignored. In the context of language acquisition, this independence assumption discards cues that are important to the learner, e.g., the fact that consecutive utterances are likely to share the same referent (, 2013). The current paper describes an approach to the problem of simultaneously modeling grounded language at the sentence and discourse levels. We combine ideas from parsing and grammar induction to produce a parser that can handle long input strings with thousands of tokens, creating parse trees that represent full discourses. By casting grounded language learning as a grammatical inference task, we use our parser to extend the work of (2012), investigating the importance of discourse continuity in children’s language acquisition and its interaction with social cues. Our model boosts performance in a language acquisition task and yields good discourse segmentations compared with human annotators. Three experiments were conducted to determine the psychometric properties of language in dyadic interactions. Using text-analysis, it was possible to assess the degree to which people coordinate their word use in natural conversations. In Experiments 1 (n = 130) and 2( n = 32), college students interacted in dyadic conversations in laboratory-based private Internet chat rooms. Experiment 3 analyzed the official transcripts of the Watergate tapes involving the dyadic interactions between President Richard Nixon and his aids H. R. Haldeman, John Erlichman, and John Dean. The results of the three studies offer sub- stantial evidence that individuals in dyadic interactions exhibit linguistic style matching (LSM) on both the conversation level as well as on a turn-by-turn level. Furthermore, LSM is unrelated to ratings of the quality of the interaction by both participants and judges. We propose that a coordination-engagement hypothesis is a better description of linguistic behaviors than the coordination-rapport hypothesis that has been proposed in the nonver- bal literature. For years social psychologists have exalted the power of the situa- tion. We comfortably acknowledge that across different situations, with different people, we may act in a range of ways, or even talk using a variety of styles. Aware of this tendency, Gergen (1972) began his explorations of our shifting masks of identity. In writing letters to close friends, he realized that he came across as a "completely different per- son" in each letter. "In one, I was morose, pouring out a philosophy of existential sorrow; in another I was a lusty realist: in a third I was a lighthearted jokester" (p. 32). Based merely on his word choices, Gergen inadvertently varied his style to adapt to the recipients of his letters. This is a prime demonstration of our inherent knowledge of the mutability of our language with respect to varying social contexts. An elementary way of using language is to refer to objects. Often, these objects are physically present in the shared environment and reference is done via mention of perceivable properties of the objects. This is a type of language use that is modelled well neither by logical semantics nor by distributional semantics, the former focusing on inferential relations between expressed propositions, the latter on similarity relations between words or phrases. We present an account of word and phrase meaning that is perceptually grounded, trainable, compositional, and ‘dialogueplausible’ in that it computes meanings word-by-word. We show that the approach performs well (with an accuracy of 65 on a 1-out-of-32 reference resolution task) on direct descriptions and target landmark descriptions, even when trained with less than 800 training examples and automatically transcribed utterances. We propose a model to learn visually grounded word embeddings (vis-w2v) to capture visual notions of semantic relatedness. While word embeddings trained using text have been extremely successful, they cannot uncover notions of semantic relatedness implicit in our visual world. For instance, although "eats" and "stares at" seem unrelated in text, they share semantics visually. When people are eating something, they also tend to stare at the food. Grounding diverse relations like "eats" and "stares at" into vision remains challenging, despite recent progress in vision. We note that the visual grounding of words depends on semantics, and not the literal pixels. We thus use abstract scenes created from clipart to provide the visual grounding. We find that the embeddings we learn capture fine-grained, visually grounded notions of semantic relatedness. We show improvements over text-only word embeddings (word2vec) on three tasks: common-sense assertion classification, visual paraphrasing and text-based image retrieval. Our code and datasets are available online. Deciding when to take (or not to take) the turn in a conversation is an important task. It has been stressed in the descriptive literature that such decisions must involve prediction ,a s they often seem to be made before a transition place has been reached. In computational systems, however, turn-taking is normally a reaction to parameters like pause length. In this paper, we report on experiments that try to bridge this gap. We describe an experiment (using controlled stimuli) that shows human performance at prediction of turn-taking decisions and then show that a model automatically induced from data can reach a similar level of performance. We then describe a series of experiments on spontaneous dialogue data where we combine pause thresholds with syntactic and prosodic information to make turn-taking decisions, successively reducing the pause threshold until reaction becomes prediction. All our classifiers improve significantly over the baselines; prediction however is shown to be the hardest task, and we discuss additional information sources that could improve it. Index Terms: turn-taking, machine learning, prosody. This paper introduces Logical Semantics with Perception (LSP), a model for grounded language acquisition that learns to map natural language statements to their referents in a physical environment. For example, given an image, LSP can map the statement “blue mug on the table” to the set of image segments showing blue mugs on tables. LSP learns physical representations for both categorical (“blue,” “mug”) and relational (“on”) language, and also learns to compose these representations to produce the referents of entire statements. We further introduce a weakly supervised training procedure that estimates LSP’s parameters using annotated referents for entire statements, without annotated referents for individual words or the parse structure of the statement. We perform experiments on two applications: scene understanding and geographical question answering. We find that LSP outperforms existing, less expressive models that cannot represent relational language. We further find that weakly supervised training is competitive with fully supervised training while requiring significantly less annotation effort. In several natural language tasks, labeled sequences are available in separate domains (say, languages), but the goal is to label sequences with mixed domain (such as code-switched text). Or, we may have available models for labeling whole passages (say, with sentiments), which we would like to exploit toward better position-specific label inference (say, target-dependent sentiment annotation). A key characteristic shared across such tasks is that different positions in a primary instance can benefit from different experts' trained from auxiliary data, but labeled primary instances are scarce, and labeling the best expert for each position entails unacceptable cognitive burden. We propose GITNet, a unified position-sensitive multi-task recurrent neural network (RNN) architecture for such applications. Auxiliary and primary tasks need not share training instances. Auxiliary RNNs are trained over auxiliary instances. A primary instance is also submitted to each auxiliary RNN, but their state sequences are gated and merged into a novel composite state sequence tailored to the primary inference task. Our approach is in sharp contrast to recent multi-task networks like the cross-stitch and sluice network, which do not control state transfer at such fine granularity. We demonstrate the superiority of GIRNet using three applications: sentiment classification of code-switched passages, part-of-speech tagging of code-switched text, and target position-sensitive annotation of sentiment in monolingual passages. In all cases, we establish new state-of-the-art performance beyond recent competitive baselines. We describe the acquisition of a dialog corpus for French based on multi-task human-machine interactions in a serious game setting. We present a tool for data collection that is configurable for multiple games; describe the data collected using this tool and the annotation schema used to annotate it; and report on the results obtained when training a classifier on the annotated data to associate each player turn with a dialog move usable by a rule based dialog manager. The collected data consists of approximately 1250 dialogs, 10454 utterances and 168509 words and will be made freely available to academic and nonprofit research. This paper develops techniques for studying complexity classes that are not covered by known recursive enumerations of machines. Often, counting classes, probabilistic classes, and intersection classes lack such enumerations. Concentrating on the counting class UP, we show that there are relativizations for which UPA has no complete languages and other relativizations for which PB ≠ UPB ≠ NPB and UPB has complete languages. Among other results we show that P ≠ UP if and only if there exists a set S in P of Boolean formulas with at most one satisfying assignment such that S ∩ SAT is not in P. P ≠ UP ∩ coUP if and only if there exists a set S in P of uniquely satisfiable Boolean formulas such that no polynomial-time machine can compute the solutions for the formulas in S. If UP has complete languages then there exists a set R in P of Boolean formulas with at most one satisfying assignment so that SAT ∩ R is complete for UP. Finally, we indicate the wide applicability of our techniques to counting and probabilistic classes by using them to examine the probabilistic class BPP. There is a relativized world where BPPA has no complete languages. If BPP has complete languages then it has a complete language of the form B ∩ MAJORITY, where B ∈ P and MAJORITY = f | f is true for at least half of all assignments is the canonical PP-complete set. Most existing work that grounds natural language phrases in images starts with the assumption that the phrase in question is relevant to the image. In this paper we address a more realistic version of the natural language grounding task where we must both identify whether the phrase is relevant to an image and localize the phrase. This can also be viewed as a generalization of object detection to an open-ended vocabulary, essentially introducing elements of few- and zero-shot detection. We propose a Phrase R-CNN network for this task that extends Faster R-CNN to relate image regions and phrases. By carefully initializing the classification layers of our network using canonical correlation analysis (CCA), we encourage a solution that is more discerning when reasoning between similar phrases, resulting in over double the performance compared to a naive adaptation on two popular phrase grounding datasets, Flickr30K Entities and ReferIt Game, with test-time phrase vocabulary sizes of 5K and 39K, respectively. Despite interest in using cross-lingual knowledge to learn word embeddings for various tasks, a systematic comparison of the possible approaches is lacking in the literature. We perform an extensive evaluation of four popular approaches of inducing cross-lingual embeddings, each requiring a different form of supervision, on four typographically different language pairs. Our evaluation setup spans four different tasks, including intrinsic evaluation on mono-lingual and cross-lingual similarity, and extrinsic evaluation on downstream semantic and syntactic applications. We show that models which require expensive cross-lingual knowledge almost always perform better, but cheaply supervised models often prove competitive on certain tasks.