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Register a new userA Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution
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Added by
Valts Blukis
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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Natural language provides an accessible and expressive interface to specify long-term tasks for robotic agents. However, non-experts are likely to specify such tasks with high-level instructions, which abstract over specific robot actions through several layers of abstraction. We propose that key to bridging this gap between language and robot actions over long execution horizons are persistent representations. We propose a persistent spatial semantic representation method, and show how it enables building an agent that performs hierarchical reasoning to effectively execute long-term tasks. We evaluate our approach on the ALFRED benchmark and achieve state-of-the-art results, despite completely avoiding the commonly used step-by-step instructions.
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Building neural networks to query a knowledge base (a table) with natural language is an emerging research topic in deep learning. An executor for table querying typically requires multiple steps of execution because queries may have complicated structures. In previous studies, researchers have developed either fully distributed executors or symbolic executors for table querying. A distributed executor can be trained in an end-to-end fashion, but is weak in terms of execution efficiency and explicit interpretability. A symbolic executor is efficient in execution, but is very difficult to train especially at initial stages. In this paper, we propose to couple distributed and symbolic execution for natural language queries, where the symbolic executor is pretrained with the distributed executors intermediate execution results in a step-by-step fashion. Experiments show that our approach significantly outperforms both distributed and symbolic executors, exhibiting high accuracy, high learning efficiency, high execution efficiency, and high interpretability.
Given a closed-source program, such as most of proprietary software and viruses, binary code analysis is indispensable for many tasks, such as code plagiarism detection and malware analysis. Today, source code is very often compiled for various architectures, making cross-architecture binary code analysis increasingly important. A binary, after being disassembled, is expressed in an assembly languages. Thus, recent work starts exploring Natural Language Processing (NLP) inspired binary code analysis. In NLP, words are usually represented in high-dimensional vectors (i.e., embeddings) to facilitate further processing, which is one of the most common and critical steps in many NLP tasks. We regard instructions as words in NLP-inspired binary code analysis, and aim to represent instructions as embeddings as well. To facilitate cross-architecture binary code analysis, our goal is that similar instructions, regardless of their architectures, have embeddings close to each other. To this end, we propose a joint learning approach to generating instruction embeddings that capture not only the semantics of instructions within an architecture, but also their semantic relationships across architectures. To the best of our knowledge, this is the first work on building cross-architecture instruction embedding model. As a showcase, we apply the model to resolving one of the most fundamental problems for binary code similarity comparison---semantics-based basic block comparison, and the solution outperforms the code statistics based approach. It demonstrates that it is promising to apply the model to other cross-architecture binary code analysis tasks.
Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected to complete, providing generic out-of-the-box solutions that meet the needs of every possible user is clearly intractable. To address this problem, robots must therefore not only be capable of learning how to complete novel tasks at run-time, but the solutions to these tasks must also be informed by the needs of the user. In this paper we demonstrate how behaviour trees, a well established control architecture in the fields of gaming and robotics, can be used in conjunction with natural language instruction to provide a robust and modular control architecture for instructing autonomous agents to learn and perform novel complex tasks. We also show how behaviour trees generated using our approach can be generalised to novel scenarios, and can be re-used in future learning episodes to create increasingly complex behaviours. We validate this work against an existing corpus of natural language instructions, demonstrate the application of our approach on both a simulated robot solving a toy problem, as well as two distinct real-world robot platforms which, respectively, complete a block sorting scenario, and a patrol scenario.
Natural language object retrieval is a highly useful yet challenging task for robots in human-centric environments. Previous work has primarily focused on commands specifying the desired objects type such as scissors and/or visual attributes such as red, thus limiting the robot to only known object classes. We develop a model to retrieve objects based on descriptions of their usage. The model takes in a language command containing a verb, for example Hand me something to cut, and RGB images of candidate objects and selects the object that best satisfies the task specified by the verb. Our model directly predicts an objects appearance from the objects use specified by a verb phrase. We do not need to explicitly specify an objects class label. Our approach allows us to predict high level concepts like an objects utility based on the language query. Based on contextual information present in the language commands, our model can generalize to unseen object classes and unknown nouns in the commands. Our model correctly selects objects out of sets of five candidates to fulfill natural language commands, and achieves an average accuracy of 62.3% on a held-out test set of unseen ImageNet object classes and 53.0% on unseen object classes and unknown nouns. Our model also achieves an average accuracy of 54.7% on unseen YCB object classes, which have a different image distribution from ImageNet objects. We demonstrate our model on a KUKA LBR iiwa robot arm, enabling the robot to retrieve objects based on natural language descriptions of their usage. We also present a new dataset of 655 verb-object pairs denoting object usage over 50 verbs and 216 object classes.
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