Language-guided robots performing home and office tasks must navigate in and interact with the world. Grounding language instructions against visual observations and actions to take in an environment is an open challenge. We present Embodied BERT (Em
BERT), a transformer-based model which can attend to high-dimensional, multi-modal inputs across long temporal horizons for language-conditioned task completion. Additionally, we bridge the gap between successful object-centric navigation models used for non-interactive agents and the language-guided visual task completion benchmark, ALFRED, by introducing object navigation targets for EmBERT training. We achieve competitive performance on the ALFRED benchmark, and EmBERT marks the first transformer-based model to successfully handle the long-horizon, dense, multi-modal histories of ALFRED, and the first ALFRED model to utilize object-centric navigation targets.
Guessing games are a prototypical instance of the learning by interacting paradigm. This work investigates how well an artificial agent can benefit from playing guessing games when later asked to perform on novel NLP downstream tasks such as Visual Q
uestion Answering (VQA). We propose two ways to exploit playing guessing games: 1) a supervised learning scenario in which the agent learns to mimic successful guessing games and 2) a novel way for an agent to play by itself, called Self-play via Iterated Experience Learning (SPIEL). We evaluate the ability of both procedures to generalize: an in-domain evaluation shows an increased accuracy (+7.79) compared with competitors on the evaluation suite CompGuessWhat?!; a transfer evaluation shows improved performance for VQA on the TDIUC dataset in terms of harmonic average accuracy (+5.31) thanks to more fine-grained object representations learned via SPIEL.
In visual guessing games, a Guesser has to identify a target object in a scene by asking questions to an Oracle. An effective strategy for the players is to learn conceptual representations of objects that are both discriminative and expressive enoug
h to ask questions and guess correctly. However, as shown by Suglia et al. (2020), existing models fail to learn truly multi-modal representations, relying instead on gold category labels for objects in the scene both at training and inference time. This provides an unnatural performance advantage when categories at inference time match those at training time, and it causes models to fail in more realistic zero-shot scenarios where out-of-domain object categories are involved. To overcome this issue, we introduce a novel imagination module based on Regularized Auto-Encoders, that learns context-aware and category-aware latent embeddings without relying on category labels at inference time. Our imagination module outperforms state-of-the-art competitors by 8.26% gameplay accuracy in the CompGuessWhat?! zero-shot scenario (Suglia et al., 2020), and it improves the Oracle and Guesser accuracy by 2.08% and 12.86% in the GuessWhat?! benchmark, when no gold categories are available at inference time. The imagination module also boosts reasoning about object properties and attributes.
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 gen
eralise 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%).
People have information needs of varying complexity, which can be solved by an intelligent agent able to answer questions formulated in a proper way, eventually considering user context and preferences. In a scenario in which the user profile can be
considered as a question, intelligent agents able to answer questions can be used to find the most relevant answers for a given user. In this work we propose a novel model based on Artificial Neural Networks to answer questions with multiple answers by exploiting multiple facts retrieved from a knowledge base. The model is evaluated on the factoid Question Answering and top-n recommendation tasks of the bAbI Movie Dialog dataset. After assessing the performance of the model on both tasks, we try to define the long-term goal of a conversational recommender system able to interact using natural language and to support users in their information seeking processes in a personalized way.
