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Grounding Hindsight Instructions in Multi-Goal Reinforcement Learning for Robotics ...
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Abstract:
This paper focuses on robotic reinforcement learning with sparse rewards for natural language goal representations. An open problem is the sample-inefficiency that stems from the compositionality of natural language, and from the grounding of language in sensory data and actions. We address these issues with three contributions. We first present a mechanism for hindsight instruction replay utilizing expert feedback. Second, we propose a seq2seq model to generate linguistic hindsight instructions. Finally, we present a novel class of language-focused learning tasks. We show that hindsight instructions improve the learning performance, as expected. In addition, we also provide an unexpected result: We show that the learning performance of our agent can be improved by one third if, in a sense, the agent learns to talk to itself in a self-supervised manner. We achieve this by learning to generate linguistic instructions that would have been appropriate as a natural language goal for an originally unintended ... : Preprint ICDL 2022 ...
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Keyword:
Artificial Intelligence cs.AI; Computation and Language cs.CL; FOS Computer and information sciences; Machine Learning cs.LG
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URL: https://dx.doi.org/10.48550/arxiv.2204.04308 https://arxiv.org/abs/2204.04308
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LipSound2: Self-Supervised Pre-Training for Lip-to-Speech Reconstruction and Lip Reading ...
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Neural Network Learning for Robust Speech Recognition
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Qu, Leyuan. - : Staats- und Universitätsbibliothek Hamburg Carl von Ossietzky, 2021
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Towards a self-organizing pre-symbolic neural model representing sensorimotor primitives ...
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Conversational Language Learning for Human-Robot Interaction
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Crossmodal Language Grounding in an Embodied Neurocognitive Model
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In: Front Neurorobot (2020)
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Incorporating End-to-End Speech Recognition Models for Sentiment Analysis ...
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Towards Dialogue-based Navigation with Multivariate Adaptation driven by Intention and Politeness for Social Robots ...
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GradAscent at EmoInt-2017: Character- and Word-Level Recurrent Neural Network Models for Tweet Emotion Intensity Detection ...
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Syntactic Reanalysis in Language Models for Speech Recognition
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In: 2017 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob) ; https://hal.inria.fr/hal-01558462 ; 2017 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), Sep 2017, Lisbon, Portugal ; http://icdl-epirob.org/ (2017)
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Interactive Natural Language Acquisition in a Multi-modal Recurrent Neural Architecture ...
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Recurrent Neural Network for Syntax Learning with Flexible Predicates for Robotic Architectures
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In: The Sixth Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB) ; https://hal.inria.fr/hal-01417697 ; The Sixth Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Sep 2016, Cergy, France ; http://icdl-epirob.org/ (2016)
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Semantic Role Labelling for Robot Instructions using Echo State Networks
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In: European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN) ; https://hal.inria.fr/hal-01417701 ; European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Apr 2016, Bruges, Belgium ; https://www.elen.ucl.ac.be/esann/index.php?pg=esann16_programme (2016)
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Using Natural Language Feedback in a Neuro-inspired Integrated Multimodal Robotic Architecture
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In: 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) ; https://hal.inria.fr/hal-01417706 ; 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Aug 2016, New York City, United States. pp.52 - 57, ⟨10.1109/ROMAN.2016.7745090⟩ ; http://www.tc.columbia.edu/conferences/roman2016/ (2016)
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Natural language acquisition in recurrent neural architectures ; Erwerb von natürlicher Sprache in rekurrenten neuronalen Architekturen
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Heinrich, Stefan. - : Staats- und Universitätsbibliothek Hamburg Carl von Ossietzky, 2016
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A Recurrent Neural Network for Multiple Language Acquisition: Starting with English and French
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In: Proceedings of the NIPS Workshop on Cognitive Computation: Integrating Neural and Symbolic Approaches (CoCo 2015) ; https://hal.inria.fr/hal-02561258 ; Proceedings of the NIPS Workshop on Cognitive Computation: Integrating Neural and Symbolic Approaches (CoCo 2015), Dec 2015, Montreal, Canada ; http://ceur-ws.org/Vol-1583/ (2015)
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Toward a self-organizing pre-symbolic neural model representing sensorimotor primitives
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Toward a self-organizing pre-symbolic neural model representing sensorimotor primitives
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