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Register a new userMulti-Task Networks With Universe, Group, and Task Feature Learning
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Added by
Shiva P
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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We present methods for multi-task learning that take advantage of natural groupings of related tasks. Task groups may be defined along known properties of the tasks, such as task domain or language. Such task groups represent supervised information at the inter-task level and can be encoded into the model. We investigate two variants of neural network architectures that accomplish this, learning different feature spaces at the levels of individual tasks, task groups, as well as the universe of all tasks: (1) parallel architectures encode each input simultaneously into feature spaces at different levels; (2) serial architectures encode each input successively into feature spaces at different levels in the task hierarchy. We demonstrate the methods on natural language understanding (NLU) tasks, where a grouping of tasks into different task domains leads to improved performance on ATIS, Snips, and a large inhouse dataset.
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Enabling robots to solve multiple manipulation tasks has a wide range of industrial applications. While learning-based approaches enjoy flexibility and generalizability, scaling these approaches to solve such compositional tasks remains a challenge. In this work, we aim to solve multi-task learning through the lens of sequence-conditioning and weighted sampling. First, we propose a new suite of benchmark specifically aimed at compositional tasks, MultiRavens, which allows defining custom task combinations through task modules that are inspired by industrial tasks and exemplify the difficulties in vision-based learning and planning methods. Second, we propose a vision-based end-to-end system architecture, Sequence-Conditioned Transporter Networks, which augments Goal-Conditioned Transporter Networks with sequence-conditioning and weighted sampling and can efficiently learn to solve multi-task long horizon problems. Our analysis suggests that not only the new framework significantly improves pick-and-place performance on novel 10 multi-task benchmark problems, but also the multi-task learning with weighted sampling can vastly improve learning and agent performances on individual tasks.
Approaches to Grounded Language Learning typically focus on a single task-based final performance measure that may not depend on desirable properties of the learned hidden representations, such as their ability to predict salient attributes or to generalise to unseen situations. To remedy this, we present GROLLA, an evaluation framework for Grounded Language Learning with Attributes with three sub-tasks: 1) Goal-oriented evaluation; 2) Object attribute prediction evaluation; and 3) Zero-shot evaluation. We also propose a new dataset CompGuessWhat?! as an instance of this framework for evaluating the quality of learned neural representations, in particular concerning attribute grounding. To this end, we extend the original GuessWhat?! dataset by including a semantic layer on top of the perceptual one. Specifically, we enrich the VisualGenome scene graphs associated with the GuessWhat?! images with abstract and situated attributes. By using diagnostic classifiers, we show that current models learn representations that are not expressive enough to encode object attributes (average F1 of 44.27). In addition, they do not learn strategies nor representations that are robust enough to perform well when novel scenes or objects are involved in gameplay (zero-shot best accuracy 50.06%).
Asking questions is one of the most crucial pedagogical techniques used by teachers in class. It not only offers open-ended discussions between teachers and students to exchange ideas but also provokes deeper student thought and critical analysis. Providing teachers with such pedagogical feedback will remarkably help teachers improve their overall teaching quality over time in classrooms. Therefore, in this work, we build an end-to-end neural framework that automatically detects questions from teachers audio recordings. Compared with traditional methods, our approach not only avoids cumbersome feature engineering, but also adapts to the task of multi-class question detection in real education scenarios. By incorporating multi-task learning techniques, we are able to strengthen the understanding of semantic relations among different types of questions. We conducted extensive experiments on the question detection tasks in a real-world online classroom dataset and the results demonstrate the superiority of our model in terms of various evaluation metrics.
In Automatic Speech Recognition it is still challenging to learn useful intermediate representations when using high-level (or abstract) target units such as words. For that reason, character or phoneme based systems tend to outperform word-based systems when just few hundreds of hours of training data are being used. In this paper, we first show how hierarchical multi-task training can encourage the formation of useful intermediate representations. We achieve this by performing Connectionist Temporal Classification at different levels of the network with targets of different granularity. Our model thus performs predictions in multiple scales for the same input. On the standard 300h Switchboard training setup, our hierarchical multi-task architecture exhibits improvements over single-task architectures with the same number of parameters. Our model obtains 14.0% Word Error Rate on the Eval2000 Switchboard subset without any decoder or language model, outperforming the current state-of-the-art on acoustic-to-word models.
We present a method for efficient learning of control policies for multiple related robotic motor skills. Our approach consists of two stages, joint training and specialization training. During the joint training stage, a neural network policy is trained with minimal information to disambiguate the motor skills. This forces the policy to learn a common representation of the different tasks. Then, during the specialization training stage we selectively split the weights of the policy based on a per-weight metric that measures the disagreement among the multiple tasks. By splitting part of the control policy, it can be further trained to specialize to each task. To update the control policy during learning, we use Trust Region Policy Optimization with Generalized Advantage Function (TRPOGAE). We propose a modification to the gradient update stage of TRPO to better accommodate multi-task learning scenarios. We evaluate our approach on three continuous motor skill learning problems in simulation: 1) a locomotion task where three single legged robots with considerable difference in shape and size are trained to hop forward, 2) a manipulation task where three robot manipulators with different sizes and joint types are trained to reach different locations in 3D space, and 3) locomotion of a two-legged robot, whose range of motion of one leg is constrained in different ways. We compare our training method to three baselines. The first baseline uses only joint training for the policy, the second trains independent policies for each task, and the last randomly selects weights to split. We show that our approach learns more efficiently than each of the baseline methods.
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