General Robot Dynamics Learning and Gen2Real

Acquiring dynamics is an essential topic in robot learning, but up-to-date methods, such as dynamics randomization, need to restart to check nominal parameters, generate simulation data, and train networks whenever they face different robots. To improve it, we novelly investigate general robot dynamics, its inverse models, and Gen2Real, which means transferring to reality. Our motivations are to build a model that learns the intrinsic dynamics of various robots and lower the threshold of dynamics learning by enabling an amateur to obtain robot models without being trapped in details. This paper achieves the "generality" by randomizing dynamics parameters, topology configurations, and model dimensions, which in sequence cover the property, the connection, and the number of robot links. A structure modified from GPT is applied to access the pre-training model of general dynamics. We also study various inverse models of dynamics to facilitate different applications. We step further to investigate a new concept, "Gen2Real", to transfer simulated, general models to physical, specific robots. Simulation and experiment results demonstrate the validity of the proposed models and method.\footnote{ These authors contribute equally.

CURIE: An Iterative Querying Approach for Reasoning About Situations

Recently, models have been shown to predict the effects of unexpected situations, e.g., would cloudy skies help or hinder plant growth? Given a context, the goal of such situational reasoning is to elicit the consequences of a new situation (st) that arises in that context. We propose a method to iteratively build a graph of relevant consequences explicitly in a structured situational graph (st-graph) using natural language queries over a finetuned language model (M). Across multiple domains, CURIE generates st-graphs that humans find relevant and meaningful in eliciting the consequences of a new situation. We show that st-graphs generated by CURIE improve a situational reasoning end task (WIQA-QA) by 3 points on accuracy by simply augmenting their input with our generated situational graphs, especially for a hard subset that requires background knowledge and multi-hop reasoning.

Meta Back-translation

Back-translation is an effective strategy to improve the performance of Neural Machine Translation~(NMT) by generating pseudo-parallel data. However, several recent works have found that better translation quality of the pseudo-parallel data does not necessarily lead to better final translation models, while lower-quality but more diverse data often yields stronger results. In this paper, we propose a novel method to generate pseudo-parallel data from a pre-trained back-translation model. Our method is a meta-learning algorithm which adapts a pre-trained back-translation model so that the pseudo-parallel data it generates would train a forward-translation model to do well on a validation set. In our evaluations in both the standard datasets WMT En-De'14 and WMT En-Fr'14, as well as a multilingual translation setting, our method leads to significant improvements over strong baselines. Our code will be made available.

Handling Noisy Labels via One-Step Abductive Multi-Target Learning

Learning from noisy labels is an important concern because of the lack of accurate ground-truth labels in plenty of real-world scenarios. In practice, various approaches for this concern first make corrections corresponding to potentially noisy-labeled instances, and then update predictive model with information of the made corrections. However, in specific areas, such as medical histopathology whole slide image analysis (MHWSIA), it is often difficult or even impossible for experts to manually achieve the noisy-free ground-truth labels which leads to labels with heavy noise. This situation raises two more difficult problems: 1) the methodology of approaches making corrections corresponding to potentially noisy-labeled instances has limitations due to the heavy noise existing in labels; and 2) the appropriate evaluation strategy for validation/testing is unclear because of the great difficulty in collecting the noisy-free ground-truth labels. In this paper, we focus on alleviating these two problems. For the problem 1), we present a one-step abductive multi-target learning framework (OSAMTLF) that imposes a one-step logical reasoning upon machine learning via a multi-target learning procedure to abduct the predictions of the learning model to be subject to our prior knowledge. For the problem 2), we propose a logical assessment formula (LAF) that evaluates the logical rationality of the outputs of an approach by estimating the consistencies between the predictions of the learning model and the logical facts narrated from the results of the one-step logical reasoning of OSAMTLF. Applying OSAMTLF and LAF to the Helicobacter pylori (H. pylori) segmentation task in MHWSIA, we show that OSAMTLF is able to abduct the machine learning model achieving logically more rational predictions, which is beyond the capability of various state-of-the-art approaches for learning from noisy labels.

Rethinking Transformer-based Set Prediction for Object Detection

DETR is a recently proposed Transformer-based method which views object detection as a set prediction problem and achieves state-of-the-art performance but demands extra-long training time to converge. In this paper, we investigate the causes of the optimization difficulty in the training of DETR. Our examinations reveal several factors contributing to the slow convergence of DETR, primarily the issues with the Hungarian loss and the Transformer cross attention mechanism. To overcome these issues we propose two solutions, namely, TSP-FCOS (Transformer-based Set Prediction with FCOS) and TSP-RCNN (Transformer-based Set Prediction with RCNN). Experimental results show that the proposed methods not only converge much faster than the original DETR, but also significantly outperform DETR and other baselines in terms of detection accuracy.

On the Sentence Embeddings from Pre-trained Language Models

Pre-trained contextual representations like BERT have achieved great success in natural language processing. However, the sentence embeddings from the pre-trained language models without fine-tuning have been found to poorly capture semantic meaning of sentences. In this paper, we argue that the semantic information in the BERT embeddings is not fully exploited. We first reveal the theoretical connection between the masked language model pre-training objective and the semantic similarity task theoretically, and then analyze the BERT sentence embeddings empirically. We find that BERT always induces a non-smooth anisotropic semantic space of sentences, which harms its performance of semantic similarity. To address this issue, we propose to transform the anisotropic sentence embedding distribution to a smooth and isotropic Gaussian distribution through normalizing flows that are learned with an unsupervised objective. Experimental results show that our proposed BERT-flow method obtains significant performance gains over the state-of-the-art sentence embeddings on a variety of semantic textual similarity tasks. The code is available at https://github.com/bohanli/BERT-flow.

EIGEN: Event Influence GENeration using Pre-trained Language Models

Reasoning about events and tracking their influences is fundamental to understanding processes. In this paper, we present EIGEN - a method to leverage pre-trained language models to generate event influences conditioned on a context, nature of their influence, and the distance in a reasoning chain. We also derive a new dataset for research and evaluation of methods for event influence generation. EIGEN outperforms strong baselines both in terms of automated evaluation metrics (by 10 ROUGE points) and human judgments on closeness to reference and relevance of generations. Furthermore, we show that the event influences generated by EIGEN improve the performance on a "what-if" Question Answering (WIQA) benchmark (over 3% F1), especially for questions that require background knowledge and multi-hop reasoning.

Neural Language Modeling for Contextualized Temporal Graph Generation

This paper presents the first study on using large-scale pre-trained language models for automated generation of an event-level temporal graph for a document. Despite the huge success of neural pre-training methods in NLP tasks, its potential for temporal reasoning over event graphs has not been sufficiently explored. Part of the reason is the difficulty in obtaining large training corpora with human-annotated events and temporal links. We address this challenge by using existing IE/NLP tools to automatically generate a large quantity (89,000) of system-produced document-graph pairs, and propose a novel formulation of the contextualized graph generation problem as a sequence-to-sequence mapping task. These strategies enable us to leverage and fine-tune pre-trained language models on the system-induced training data for the graph generation task. Our experiments show that our approach is highly effective in generating structurally and semantically valid graphs. Further, evaluation on a challenging hand-labeled, out-domain corpus shows that our method outperforms the closest existing method by a large margin on several metrics. Code and pre-trained models are available at https://github.com/madaan/temporal-graph-gen.

JAKET: Joint Pre-training of Knowledge Graph and Language Understanding

Knowledge graphs (KGs) contain rich information about world knowledge, entities and relations. Thus, they can be great supplements to existing pre-trained language models. However, it remains a challenge to efficiently integrate information from KG into language modeling. And the understanding of a knowledge graph requires related context. We propose a novel joint pre-training framework, JAKET, to model both the knowledge graph and language. The knowledge module and language module provide essential information to mutually assist each other: the knowledge module produces embeddings for entities in text while the language module generates context-aware initial embeddings for entities and relations in the graph. Our design enables the pre-trained model to easily adapt to unseen knowledge graphs in new domains. Experimental results on several knowledge-aware NLP tasks show that our proposed framework achieves superior performance by effectively leveraging knowledge in language understanding.

Unsupervised Parallel Corpus Mining on Web Data

With a large amount of parallel data, neural machine translation systems are able to deliver human-level performance for sentence-level translation. However, it is costly to label a large amount of parallel data by humans. In contrast, there is a large-scale of parallel corpus created by humans on the Internet. The major difficulty to utilize them is how to filter them out from the noise website environments. Current parallel data mining methods all require labeled parallel data as the training source. In this paper, we present a pipeline to mine the parallel corpus from the Internet in an unsupervised manner. On the widely used WMT'14 English-French and WMT'16 English-German benchmarks, the machine translator trained with the data extracted by our pipeline achieves very close performance to the supervised results. On the WMT'16 English-Romanian and Romanian-English benchmarks, our system produces new state-of-the-art results, 39.81 and 38.95 BLEU scores, even compared with supervised approaches.