Many task domains require robots to interpret and act upon natural language commands which are given by people and which refer to the robot’s physical surroundings. Such interpretation, known as the “grounded language problem,” is challenging both because people, especially untrained users, employ diverse vocabulary and grammar, and because in real settings robots typically have substantial uncertainty about the nature and contents of their surroundings, making it difficult to associate the constitutive language elements (principally noun phrases and spatial relations) of the command text to elements of those surroundings. Symbolic models capture linguistic structure but have not scaled successfully to handle the diverse language produced by untrained users. Existing statistical approaches can better handle diversity, but have not to date modeled complex linguistic structure, limiting achievable accuracy. Recent hybrid approaches have addressed limitations in scaling and complexity, but have not effectively associated linguistic and perceptual features. Our framework, called Generalized Grounding Graphs (G 3 ), addresses these issues by defining a probabilistic graphical model dynamically according to the linguistic parse structure of a natural language command. This approach scales effectively, handles linguistic diversity, and enables the system to associate parts of a command with the specific objects, places, and events in the external world to which they refer. This enables robots to learn word meanings and use those learned meanings to robustly follow natural language commands produced by untrained users. We demonstrate our approach for both mobility commands (e.g. route directions like “Go down the hallway through the door”) and mobile manipulation commands (e.g. physical directives like “Pick up the pallet on the truck”) involving a variety of semi-autonomous robotic platforms, including a wheelchair, a micro-air vehicle, a forklift, and the Willow Garage PR2.
Other recent work built upon semantic parsing by explicitly considering perception at the same time as parsing . These approaches used limited supervision to learn models that connect language to sets of objects, attributes and relations. Other work used attention-based neural networks to answer questions about images @cite_4 @cite_1 @cite_0 , which do not generally use an intermediate parse. Although uses full supervision to train its semantic parser and grounding classifiers, it is able to additionally learn to understand verb phrases such as pick up'' and put,'' which are challenging because such learning involves parameter estimation and inference over state sequences.
@cite_1 @cite_0 @cite_4
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The current state-of-the-art end-to-end semantic role labeling (SRL) model is a deep neural network architecture with no explicit linguistic features. However, prior work has shown that gold syntax trees can dramatically improve SRL, suggesting that neural network models could see great improvements from explicit modeling of syntax. In this work, we present linguistically-informed self-attention (LISA): a new neural network model that combines multi-head self-attention with multi-task learning across dependency parsing, part-of-speech, predicate detection and SRL. For example, syntax is incorporated by training one of the attention heads to attend to syntactic parents for each token. Our model can predict all of the above tasks, but it is also trained such that if a high-quality syntactic parse is already available, it can be beneficially injected at test time without re-training our SRL model. In experiments on the CoNLL-2005 SRL dataset LISA achieves an increase of 2.5 F1 absolute over the previous state-of-the-art on newswire with predicted predicates and more than 2.0 F1 on out-of-domain data. On ConLL-2012 English SRL we also show an improvement of more than 3.0 F1, a 13 reduction in error. Despite the availability of a huge amount of video data accompanied by descriptive texts, it is not always easy to exploit the information contained in natural language in order to automatically recognize video concepts. Towards this goal, in this paper we use textual cues as means of supervision, introducing two weakly supervised techniques that extend the Multiple Instance Learning (MIL) framework: the Fuzzy Sets Multiple Instance Learning (FSMIL) and the Probabilistic Labels Multiple Instance Learning (PLMIL). The former encodes the spatio-temporal imprecision of the linguistic descriptions with Fuzzy Sets, while the latter models different interpretations of each description's semantics with Probabilistic Labels, both formulated through a convex optimization algorithm. In addition, we provide a novel technique to extract weak labels in the presence of complex semantics, that consists of semantic similarity computations. We evaluate our methods on two distinct problems, namely face and action recognition, in the challenging and realistic setting of movies accompanied by their screenplays, contained in the COGNIMUSE database. We show that, on both tasks, our method considerably outperforms a state-of-the-art weakly supervised approach, as well as other baselines. Our goal is to learn a semantic parser that maps natural language utterances into executable programs when only indirect supervision is available: examples are labeled with the correct execution result, but not the program itself. Consequently, we must search the space of programs for those that output the correct result, while not being misled by spurious programs: incorrect programs that coincidentally output the correct result. We connect two common learning paradigms, reinforcement learning (RL) and maximum marginal likelihood (MML), and then present a new learning algorithm that combines the strengths of both. The new algorithm guards against spurious programs by combining the systematic search traditionally employed in MML with the randomized exploration of RL, and by updating parameters such that probability is spread more evenly across consistent programs. We apply our learning algorithm to a new neural semantic parser and show significant gains over existing state-of-the-art results on a recent context-dependent semantic parsing task. We present a method for training a semantic parser using only a knowledge base and an unlabeled text corpus, without any individually annotated sentences. Our key observation is that multiple forms of weak supervision can be combined to train an accurate semantic parser: semantic supervision from a knowledge base, and syntactic supervision from dependency-parsed sentences. We apply our approach to train a semantic parser that uses 77 relations from Freebase in its knowledge representation. This semantic parser extracts instances of binary relations with state-of-the-art accuracy, while simultaneously recovering much richer semantic structures, such as conjunctions of multiple relations with partially shared arguments. We demonstrate recovery of this richer structure by extracting logical forms from natural language queries against Freebase. On this task, the trained semantic parser achieves 80 precision and 56 recall, despite never having seen an annotated logical form.