Language-Guided Generation of Physically Realistic Robot Motion and Control

We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick. " Although human motion datasets exist, this task remains particularly challenging since generative models can produce physically unrealistic motions, which will be more severe for robots due to different body structures and physical properties. In addition, to control a physical robot to perform a desired motion, a control policy must be learned. We develop LAnguage-Guided mOtion cONtrol (LAGOON), a multi-phase method to generate physically realistic robot motions under language commands. LAGOON first leverages a pre-trained model to generate human motion from a language command. Then an RL phase is adopted to train a control policy in simulation to mimic the generated human motion. Finally, with domain randomization, we show that our learned policy can be successfully deployed to a quadrupedal robot, leading to a robot dog that can stand up and wave its front legs in the real world to mimic the behavior of a hand-waving human.

Native Chinese Reader: A Dataset Towards Native-Level Chinese Machine Reading Comprehension

We present Native Chinese Reader (NCR), a new machine reading comprehension (MRC) dataset with particularly long articles in both modern and classical Chinese. NCR is collected from the exam questions for the Chinese course in China's high schools, which are designed to evaluate the language proficiency of native Chinese youth. Existing Chinese MRC datasets are either domain-specific or focusing on short contexts of a few hundreds of characters in modern Chinese only. By contrast, NCR contains 8390 documents with an average length of 1024 characters covering a wide range of Chinese writing styles, including modern articles, classical literature and classical poetry. A total of 20477 questions on these documents also require strong reasoning abilities and common sense to figure out the correct answers. We implemented multiple baseline models using popular Chinese pre-trained models and additionally launched an online competition using our dataset to examine the limit of current methods. The best model achieves 59% test accuracy while human evaluation shows an average accuracy of 79%, which indicates a significant performance gap between current MRC models and native Chinese speakers. We release the dataset at https://sites.google.com/view/native-chinese-reader/.

A Benchmark for Low-Switching-Cost Reinforcement Learning

A ubiquitous requirement in many practical reinforcement learning (RL) applications, including medical treatment, recommendation system, education and robotics, is that the deployed policy that actually interacts with the environment cannot change frequently. Such an RL setting is called low-switching-cost RL, i.e., achieving the highest reward while reducing the number of policy switches during training. Despite the recent trend of theoretical studies aiming to design provably efficient RL algorithms with low switching costs, none of the existing approaches have been thoroughly evaluated in popular RL testbeds. In this paper, we systematically studied a wide collection of policy-switching approaches, including theoretically guided criteria, policy-difference-based methods, and non-adaptive baselines. Through extensive experiments on a medical treatment environment, the Atari games, and robotic control tasks, we present the first empirical benchmark for low-switching-cost RL and report novel findings on how to decrease the switching cost while maintain a similar sample efficiency to the case without the low-switching-cost constraint. We hope this benchmark could serve as a starting point for developing more practically effective low-switching-cost RL algorithms. We release our code and complete results in https://sites.google.com/view/low-switching-cost-rl.

PhyloTransformer: A Discriminative Model for Mutation Prediction Based on a Multi-head Self-attention Mechanism

Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) has caused an ongoing pandemic infecting 219 million people as of 10/19/21, with a 3.6% mortality rate. Natural selection can generate favorable mutations with improved fitness advantages; however, the identified coronaviruses may be the tip of the iceberg, and potentially more fatal variants of concern (VOCs) may emerge over time. Understanding the patterns of emerging VOCs and forecasting mutations that may lead to gain of function or immune escape is urgently required. Here we developed PhyloTransformer, a Transformer-based discriminative model that engages a multi-head self-attention mechanism to model genetic mutations that may lead to viral reproductive advantage. In order to identify complex dependencies between the elements of each input sequence, PhyloTransformer utilizes advanced modeling techniques, including a novel Fast Attention Via positive Orthogonal Random features approach (FAVOR+) from Performer, and the Masked Language Model (MLM) from Bidirectional Encoder Representations from Transformers (BERT). PhyloTransformer was trained with 1,765,297 genetic sequences retrieved from the Global Initiative for Sharing All Influenza Data (GISAID) database. Firstly, we compared the prediction accuracy of novel mutations and novel combinations using extensive baseline models; we found that PhyloTransformer outperformed every baseline method with statistical significance. Secondly, we examined predictions of mutations in each nucleotide of the receptor binding motif (RBM), and we found our predictions were precise and accurate. Thirdly, we predicted modifications of N-glycosylation sites to identify mutations associated with altered glycosylation that may be favored during viral evolution. We anticipate that PhyloTransformer may guide proactive vaccine design for effective targeting of future SARS-CoV-2 variants.

Sequence Level Contrastive Learning for Text Summarization

Contrastive learning models have achieved great success in unsupervised visual representation learning, which maximize the similarities between feature representations of different views of the same image, while minimize the similarities between feature representations of views of different images. In text summarization, the output summary is a shorter form of the input document and they have similar meanings. In this paper, we propose a contrastive learning model for supervised abstractive text summarization, where we view a document, its gold summary and its model generated summaries as different views of the same mean representation and maximize the similarities between them during training. We improve over a strong sequence-to-sequence text generation model (i.e., BART) on three different summarization datasets. Human evaluation also shows that our model achieves better faithfulness ratings compared to its counterpart without contrastive objectives.

Unsupervised Extractive Summarization by Pre-training Hierarchical Transformers

Unsupervised extractive document summarization aims to select important sentences from a document without using labeled summaries during training. Existing methods are mostly graph-based with sentences as nodes and edge weights measured by sentence similarities. In this work, we find that transformer attentions can be used to rank sentences for unsupervised extractive summarization. Specifically, we first pre-train a hierarchical transformer model using unlabeled documents only. Then we propose a method to rank sentences using sentence-level self-attentions and pre-training objectives. Experiments on CNN/DailyMail and New York Times datasets show our model achieves state-of-the-art performance on unsupervised summarization. We also find in experiments that our model is less dependent on sentence positions. When using a linear combination of our model and a recent unsupervised model explicitly modeling sentence positions, we obtain even better results.