IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other areas of robotics, simulation is a powerful tool to develop algorithms, generate datasets, and train agents. However, simulation has had a more limited impact on assembly. We present IndustReal, a set of algorithms, systems, and tools that solve assembly tasks in simulation with reinforcement learning (RL) and successfully achieve policy transfer to the real world. Specifically, we propose 1) simulation-aware policy updates, 2) signed-distance-field rewards, and 3) sampling-based curricula for robotic RL agents. We use these algorithms to enable robots to solve contact-rich pick, place, and insertion tasks in simulation. We then propose 4) a policy-level action integrator to minimize error at policy deployment time. We build and demonstrate a real-world robotic assembly system that uses the trained policies and action integrator to achieve repeatable performance in the real world. Finally, we present hardware and software tools that allow other researchers to reproduce our system and results. For videos and additional details, please see http://sites.google.com/nvidia.com/industreal .

Modeling Named Entity Embedding Distribution into Hypersphere

This work models named entity distribution from a way of visualizing topological structure of embedding space, so that we make an assumption that most, if not all, named entities (NEs) for a language tend to aggregate together to be accommodated by a specific hypersphere in embedding space. Thus we present a novel open definition for NE which alleviates the obvious drawback in previous closed NE definition with a limited NE dictionary. Then, we show two applications with introducing the proposed named entity hypersphere model. First, using a generative adversarial neural network to learn a transformation matrix of two embedding spaces, which results in a convenient determination of named entity distribution in the target language, indicating the potential of fast named entity discovery only using isomorphic relation between embedding spaces. Second, the named entity hypersphere model is directly integrated with various named entity recognition models over sentences to achieve state-of-the-art results. Only assuming that embeddings are available, we show a prior knowledge free approach on effective named entity distribution depiction.

SJTU-NLP at SemEval-2018 Task 9: Neural Hypernym Discovery with Term Embeddings

This paper describes a hypernym discovery system for our participation in the SemEval-2018 Task 9, which aims to discover the best (set of) candidate hypernyms for input concepts or entities, given the search space of a pre-defined vocabulary. We introduce a neural network architecture for the concerned task and empirically study various neural network models to build the representations in latent space for words and phrases. The evaluated models include convolutional neural network, long-short term memory network, gated recurrent unit and recurrent convolutional neural network. We also explore different embedding methods, including word embedding and sense embedding for better performance.