Goal-conditioned reinforcement learning is a crucial yet challenging algorithm which enables agents to achieve multiple user-specified goals when learning a set of skills in a dynamic environment. However, it typically requires millions of the environmental interactions explored by agents, which is sample-inefficient. In the paper, we propose a skill learning framework DR-GRL that aims to improve the sample efficiency and policy generalization by combining the Disentangled Representation learning and Goal-conditioned visual Reinforcement Learning. In a weakly supervised manner, we propose a Spatial Transform AutoEncoder (STAE) to learn an interpretable and controllable representation in which different parts correspond to different object attributes (shape, color, position). Due to the high controllability of the representations, STAE can simply recombine and recode the representations to generate unseen goals for agents to practice themselves. The manifold structure of the learned representation maintains consistency with the physical position, which is beneficial for reward calculation. We empirically demonstrate that DR-GRL significantly outperforms the previous methods in sample efficiency and policy generalization. In addition, DR-GRL is also easy to expand to the real robot.
The improvement of pose estimation accuracy is currently the fundamental problem in mobile robots. This study aims to improve the use of observations to enhance accuracy. The selection of feature points affects the accuracy of pose estimation, leading to the question of how the contribution of observation influences the system. Accordingly, the contribution of information to the pose estimation process is analyzed. Moreover, the uncertainty model, sensitivity model, and contribution theory are formulated, providing a method for calculating the contribution of every residual term. The proposed selection method has been theoretically proven capable of achieving a global statistical optimum. The proposed method is tested on artificial data simulations and compared with the KITTI benchmark. The experiments revealed superior results in contrast to ALOAM and MLOAM. The proposed algorithm is implemented in LiDAR odometry and LiDAR Inertial odometry both indoors and outdoors using diverse LiDAR sensors with different scan modes, demonstrating its effectiveness in improving pose estimation accuracy. A new configuration of two laser scan sensors is subsequently inferred. The configuration is valid for three-dimensional pose localization in a prior map and yields results at the centimeter level.
With the advances in deep learning, tremendous progress has been made with chit-chat dialogue systems and task-oriented dialogue systems. However, these two systems are often tackled separately in current methods. To achieve more natural interaction with humans, a dialogue agent needs to be capable of both chatting and accomplishing tasks. To this end, we propose a unified dialogue system (UniDS) with the two aforementioned skills. In particular, we design a unified dialogue data schema, compatible for both chit-chat and task-oriented dialogues, and we train UniDS with mixed dialogue data from a pretrained chit-chat dialogue model. Without adding extra parameters to SOTA baselines, UniDS can alternatively handle chit-chat and task-oriented dialogues in a unified framework. Experimental results demonstrate that the proposed UniDS works comparably well as the pure chit-chat system, and it outperforms state-of-the-art task-oriented dialogue systems. More importantly, UniDS achieves better robustness as it is able to smoothly switch between two types of dialogues. These results demonstrate the feasibility and potential of building an one-for-all dialogue system.
Reasoning over commonsense knowledge bases (CSKB) whose elements are in the form of free-text is an important yet hard task in NLP. While CSKB completion only fills the missing links within the domain of the CSKB, CSKB population is alternatively proposed with the goal of reasoning unseen assertions from external resources. In this task, CSKBs are grounded to a large-scale eventuality (activity, state, and event) graph to discriminate whether novel triples from the eventuality graph are plausible or not. However, existing evaluations on the population task are either not accurate (automatic evaluation with randomly sampled negative examples) or of small scale (human annotation). In this paper, we benchmark the CSKB population task with a new large-scale dataset by first aligning four popular CSKBs, and then presenting a high-quality human-annotated evaluation set to probe neural models' commonsense reasoning ability. We also propose a novel inductive commonsense reasoning model that reasons over graphs. Experimental results show that generalizing commonsense reasoning on unseen assertions is inherently a hard task. Models achieving high accuracy during training perform poorly on the evaluation set, with a large gap between human performance. We will make the data publicly available for future contributions. Codes and data are available at https://github.com/HKUST-KnowComp/CSKB-Population.
Recent studies have revealed a security threat to natural language processing (NLP) models, called the Backdoor Attack. Victim models can maintain competitive performance on clean samples while behaving abnormally on samples with a specific trigger word inserted. Previous backdoor attacking methods usually assume that attackers have a certain degree of data knowledge, either the dataset which users would use or proxy datasets for a similar task, for implementing the data poisoning procedure. However, in this paper, we find that it is possible to hack the model in a data-free way by modifying one single word embedding vector, with almost no accuracy sacrificed on clean samples. Experimental results on sentiment analysis and sentence-pair classification tasks show that our method is more efficient and stealthier. We hope this work can raise the awareness of such a critical security risk hidden in the embedding layers of NLP models. Our code is available at https://github.com/lancopku/Embedding-Poisoning.
Commonsense knowledge is crucial for artificial intelligence systems to understand natural language. Previous commonsense knowledge acquisition approaches typically rely on human annotations (e.g., ATOMIC) or text generation models (e.g., COMET). Human annotation could provide high-quality commonsense knowledge, yet its high cost often results in relatively small scale and low coverage. On the other hand, generation models have the potential to automatically generate more knowledge. Nonetheless, machine learning models often fit the training data too well to generate novel knowledge in high quality, thus still suffering from coverage problems. To address the limitations of previous approaches, in this paper, we propose an alternative commonsense knowledge acquisition framework DISCOS (from DIScourse to COmmonSense), which automatically mines expensive complex commonsense knowledge from more affordable linguistic knowledge resources. Experiments demonstrate that we can successfully convert discourse knowledge over eventualities from ASER, a large-scale discourse knowledge graph, into inferential if-then commonsense knowledge defined in ATOMIC without any additional annotation effort. Further study suggests that DISCOS significantly outperforms previous supervised approaches in terms of novelty and diversity with comparable quality. In total, we can acquire 3.4M ATOMIC-like inferential commonsense knowledge by populating ATOMIC on the core part of ASER. Codes and data are available at https://github.com/HKUST-KnowComp/DISCOS-commonsense.
Entities may have complex interactions in a knowledge graph (KG), such as multi-step relationships, which can be viewed as graph contextual information of the entities. Traditional knowledge representation learning (KRL) methods usually treat a single triple as a training unit, and neglect most of the graph contextual information exists in the topological structure of KGs. In this study, we propose a Path-based Pre-training model to learn Knowledge Embeddings, called PPKE, which aims to integrate more graph contextual information between entities into the KRL model. Experiments demonstrate that our model achieves state-of-the-art results on several benchmark datasets for link prediction and relation prediction tasks, indicating that our model provides a feasible way to take advantage of graph contextual information in KGs.
Recent studies on pre-trained language models have demonstrated their ability to capture factual knowledge and applications in knowledge-aware downstream tasks. In this work, we present a language model pre-training framework guided by factual knowledge completion and verification, and use the generative and discriminative approaches cooperatively to learn the model. Particularly, we investigate two learning schemes, named two-tower scheme and pipeline scheme, in training the generator and discriminator with shared parameter. Experimental results on LAMA, a set of zero-shot cloze-style question answering tasks, show that our model contains richer factual knowledge than the conventional pre-trained language models. Furthermore, when fine-tuned and evaluated on the MRQA shared tasks which consists of several machine reading comprehension datasets, our model achieves the state-of-the-art performance, and gains large improvements on NewsQA (+1.26 F1) and TriviaQA (+1.56 F1) over RoBERTa.
Complex question answering over knowledge base (Complex KBQA) is challenging because it requires the compositional reasoning capability. Existing benchmarks have three shortcomings that limit the development of Complex KBQA: 1) they only provide QA pairs without explicit reasoning processes; 2) questions are either generated by templates, leading to poor diversity, or on a small scale; and 3) they mostly only consider the relations among entities but not attributes. To this end, we introduce KQA Pro, a large-scale dataset for Complex KBQA. We generate questions, SPARQLs, and functional programs with recursive templates and then paraphrase the questions by crowdsourcing, giving rise to around 120K diverse instances. The SPARQLs and programs depict the reasoning processes in various manners, which can benefit a large spectrum of QA methods. We contribute a unified codebase and conduct extensive evaluations for baselines and state-of-the-arts: a blind GRU obtains 31.58\%, the best model achieves only 35.15\%, and humans top at 97.5\%, which offers great research potential to fill the gap.
Complex node interactions are common in knowledge graphs, and these interactions also contain rich knowledge information. However, traditional methods usually treat a triple as a training unit during the knowledge representation learning (KRL) procedure, neglecting contextualized information of the nodes in knowledge graphs (KGs). We generalize the modeling object to a very general form, which theoretically supports any subgraph extracted from the knowledge graph, and these subgraphs are fed into a novel transformer-based model to learn the knowledge embeddings. To broaden usage scenarios of knowledge, pre-trained language models are utilized to build a model that incorporates the learned knowledge representations. Experimental results demonstrate that our model achieves the state-of-the-art performance on several medical NLP tasks, and improvement above TransE indicates that our KRL method captures the graph contextualized information effectively.