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Register a new userLearning To Follow Directions in Street View
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Added by
Karl Moritz Hermann
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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Navigating and understanding the real world remains a key challenge in machine learning and inspires a great variety of research in areas such as language grounding, planning, navigation and computer vision. We propose an instruction-following task that requires all of the above, and which combines the practicality of simulated environments with the challenges of ambiguous, noisy real world data. StreetNav is built on top of Google Street View and provides visually accurate environments representing real places. Agents are given driving instructions which they must learn to interpret in order to successfully navigate in this environment. Since humans equipped with driving instructions can readily navigate in previously unseen cities, we set a high bar and test our trained agents for similar cognitive capabilities. Although deep reinforcement learning (RL) methods are frequently evaluated only on data that closely follow the training distribution, our dataset extends to multiple cities and has a clean train/test separation. This allows for thorough testing of generalisation ability. This paper presents the StreetNav environment and tasks, models that establish strong baselines, and extensive analysis of the task and the trained agents.
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Embodied instruction following is a challenging problem requiring an agent to infer a sequence of primitive actions to achieve a goal environment state from complex language and visual inputs. Action Learning From Realistic Environments and Directives (ALFRED) is a recently proposed benchmark for this problem consisting of step-by-step natural language instructions to achieve subgoals which compose to an ultimate high-level goal. Key challenges for this task include localizing target locations and navigating to them through visual inputs, and grounding language instructions to visual appearance of objects. To address these challenges, in this study, we augment the agents field of view during navigation subgoals with multiple viewing angles, and train the agent to predict its relative spatial relation to the target location at each timestep. We also improve language grounding by introducing a pre-trained object detection module to the model pipeline. Empirical studies show that our approach exceeds the baseline model performance.
We introduce the Neural State Machine, seeking to bridge the gap between the neural and symbolic views of AI and integrate their complementary strengths for the task of visual reasoning. Given an image, we first predict a probabilistic graph that represents its underlying semantics and serves as a structured world model. Then, we perform sequential reasoning over the graph, iteratively traversing its nodes to answer a given question or draw a new inference. In contrast to most neural architectures that are designed to closely interact with the raw sensory data, our model operates instead in an abstract latent space, by transforming both the visual and linguistic modalities into semantic concept-based representations, thereby achieving enhanced transparency and modularity. We evaluate our model on VQA-CP and GQA, two recent VQA datasets that involve compositionality, multi-step inference and diverse reasoning skills, achieving state-of-the-art results in both cases. We provide further experiments that illustrate the models strong generalization capacity across multiple dimensions, including novel compositions of concepts, changes in the answer distribution, and unseen linguistic structures, demonstrating the qualities and efficacy of our approach.
Causality knowledge is crucial for many artificial intelligence systems. Conventional textual-based causality knowledge acquisition methods typically require laborious and expensive human annotations. As a result, their scale is often limited. Moreover, as no context is provided during the annotation, the resulting causality knowledge records (e.g., ConceptNet) typically do not take the context into consideration. To explore a more scalable way of acquiring causality knowledge, in this paper, we jump out of the textual domain and investigate the possibility of learning contextual causality from the visual signal. Compared with pure text-based approaches, learning causality from the visual signal has the following advantages: (1) Causality knowledge belongs to the commonsense knowledge, which is rarely expressed in the text but rich in videos; (2) Most events in the video are naturally time-ordered, which provides a rich resource for us to mine causality knowledge from; (3) All the objects in the video can be used as context to study the contextual property of causal relations. In detail, we first propose a high-quality dataset Vis-Causal and then conduct experiments to demonstrate that with good language and visual representation models as well as enough training signals, it is possible to automatically discover meaningful causal knowledge from the videos. Further analysis also shows that the contextual property of causal relations indeed exists, taking which into consideration might be crucial if we want to use the causality knowledge in real applications, and the visual signal could serve as a good resource for learning such contextual causality.
A machine intelligence pipeline usually consists of six components: problem, representation, model, loss, optimizer and metric. Researchers have worked hard trying to automate many components of the pipeline. However, one key component of the pipeline--problem definition--is still left mostly unexplored in terms of automation. Usually, it requires extensive efforts from domain experts to identify, define and formulate important problems in an area. However, automatically discovering research or application problems for an area is beneficial since it helps to identify valid and potentially important problems hidden in data that are unknown to domain experts, expand the scope of tasks that we can do in an area, and even inspire completely new findings. This paper describes Problem Learning, which aims at learning to discover and define valid and ethical problems from data or from the machines interaction with the environment. We formalize problem learning as the identification of valid and ethical problems in a problem space and introduce several possible approaches to problem learning. In a broader sense, problem learning is an approach towards the free will of intelligent machines. Currently, machines are still limited to solving the problems defined by humans, without the ability or flexibility to freely explore various possible problems that are even unknown to humans. Though many machine learning techniques have been developed and integrated into intelligent systems, they still focus on the means rather than the purpose in that machines are still solving human defined problems. However, proposing good problems is sometimes even more important than solving problems, because a good problem can help to inspire new ideas and gain deeper understandings. The paper also discusses the ethical implications of problem learning under the background of Responsible AI.
Recent research efforts enable study for natural language grounded navigation in photo-realistic environments, e.g., following natural language instructions or dialog. However, existing methods tend to overfit training data in seen environments and fail to generalize well in previously unseen environments. To close the gap between seen and unseen environments, we aim at learning a generalized navigation model from two novel perspectives: (1) we introduce a multitask navigation model that can be seamlessly trained on both Vision-Language Navigation (VLN) and Navigation from Dialog History (NDH) tasks, which benefits from richer natural language guidance and effectively transfers knowledge across tasks; (2) we propose to learn environment-agnostic representations for the navigation policy that are invariant among the environments seen during training, thus generalizing better on unseen environments. Extensive experiments show that environment-agnostic multitask learning significantly reduces the performance gap between seen and unseen environments, and the navigation agent trained so outperforms baselines on unseen environments by 16% (relative measure on success rate) on VLN and 120% (goal progress) on NDH. Our submission to the CVDN leaderboard establishes a new state-of-the-art for the NDH task on the holdout test set. Code is available at https://github.com/google-research/valan.
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