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Publications
Planning in Dynamic Environments with Conditional Autoregressive Models
We demonstrate the use of conditional autoregressive generative models (van den Oord et al., 2016a) over a discrete latent space (van den Oo… (voir plus)rd et al., 2017b) for forward planning with MCTS. In order to test this method, we introduce a new environment featuring varying difficulty levels, along with moving goals and obstacles. The combination of high-quality frame generation and classical planning approaches nearly matches true environment performance for our task, demonstrating the usefulness of this method for model-based planning in dynamic environments.
Conditional text-to-image generation approaches commonly focus on generating a single image in a single step. One practical extension beyond… (voir plus) one-step generation is an interactive system that generates an image iteratively, conditioned on ongoing linguistic input / feedback. This is significantly more challenging as such a system must understand and keep track of the ongoing context and history. In this work, we present a recurrent image generation model which takes into account both the generated output up to the current step as well as all past instructions for generation. We show that our model is able to generate the background, add new objects, apply simple transformations to existing objects, and correct previous mistakes. We believe our approach is an important step toward interactive generation.
Deep learning is currently playing a crucial role toward higher levels of artificial intelligence. This paradigm allows neural networks to l… (voir plus)earn complex and abstract representations, that are progressively obtained by combining simpler ones. Nevertheless, the internal "black-box" representations automatically discovered by current neural architectures often suffer from a lack of interpretability, making of primary interest the study of explainable machine learning techniques. This paper summarizes our recent efforts to develop a more interpretable neural model for directly processing speech from the raw waveform. In particular, we propose SincNet, a novel Convolutional Neural Network (CNN) that encourages the first layer to discover more meaningful filters by exploiting parametrized sinc functions. In contrast to standard CNNs, which learn all the elements of each filter, only low and high cutoff frequencies of band-pass filters are directly learned from data. This inductive bias offers a very compact way to derive a customized filter-bank front-end, that only depends on some parameters with a clear physical meaning. Our experiments, conducted on both speaker and speech recognition, show that the proposed architecture converges faster, performs better, and is more interpretable than standard CNNs.
We demonstrate a conditional autoregressive pipeline for efficient music recomposition, based on methods presented in van den Oord et al.(20… (voir plus)17). Recomposition (Casal & Casey, 2010) focuses on reworking existing musical pieces, adhering to structure at a high level while also re-imagining other aspects of the work. This can involve reuse of pre-existing themes or parts of the original piece, while also requiring the flexibility to generate new content at different levels of granularity. Applying the aforementioned modeling pipeline to recomposition, we show diverse and structured generation conditioned on chord sequence annotations.
Catastrophic forgetting and capacity saturation are the central challenges of any parametric lifelong learning system. In this work, we stud… (voir plus)y these challenges in the context of sequential supervised learning with emphasis on recurrent neural networks. To evaluate the models in the lifelong learning setting, we propose a curriculum-based, simple, and intuitive benchmark where the models are trained on tasks with increasing levels of difficulty. To measure the impact of catastrophic forgetting, the model is tested on all the previous tasks as it completes any task. As a step towards developing true lifelong learning systems, we unify Gradient Episodic Memory (a catastrophic forgetting alleviation approach) and Net2Net(a capacity expansion approach). Both these models are proposed in the context of feedforward networks and we evaluate the feasibility of using them for recurrent networks. Evaluation on the proposed benchmark shows that the unified model is more suitable than the constituent models for lifelong learning setting.
We explore blindfold (question-only) baselines for Embodied Question Answering. The EmbodiedQA task requires an agent to answer a question b… (voir plus)y intelligently navigating in a simulated environment, gathering necessary visual information only through first-person vision before finally answering. Consequently, a blindfold baseline which ignores the environment and visual information is a degenerate solution, yet we show through our experiments on the EQAv1 dataset that a simple question-only baseline achieves state-of-the-art results on the EmbodiedQA task in all cases except when the agent is spawned extremely close to the object.
Identifying the Best Machine Learning Algorithms for Brain Tumor Segmentation, Progression Assessment, and Overall Survival Prediction in the BRATS Challenge
Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneo… (voir plus)us histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumoris a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses thestate-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross tota lresection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset.
The NLP and ML communities have long been interested in developing models capable of common-sense reasoning, and recent works have significa… (voir plus)ntly improved the state of the art on benchmarks like the Winograd Schema Challenge (WSC). Despite these advances, the complexity of tasks designed to test common-sense reasoning remains under-analyzed. In this paper, we make a case study of the Winograd Schema Challenge and, based on two new measures of instance-level complexity, design a protocol that both clarifies and qualifies the results of previous work. Our protocol accounts for the WSC's limited size and variable instance difficulty, properties common to other common-sense benchmarks. Accounting for these properties when assessing model results may prevent unjustified conclusions.
We introduce a new benchmark task for coreference resolution, Hard-CoRe, that targets common-sense reasoning and world knowledge. Previous c… (voir plus)oreference resolution tasks have been overly vulnerable to systems that simply exploit the number and gender of the antecedents, or have been handcrafted and do not reflect the diversity of sentences in naturally occurring text. With these limitations in mind, we present a resolution task that is both challenging and realistic. We demonstrate that various coreference systems, whether rule-based, feature-rich, graphical, or neural-based, perform at random or slightly above-random on the task, whereas human performance is very strong with high inter-annotator agreement. To explain this performance gap, we show empirically that state-of-the art models often fail to capture context and rely only on the antecedents to make a decision.
We introduce a new benchmark for coreference resolution and NLI, KnowRef, that targets common-sense understanding and world knowledge. Previ… (voir plus)ous coreference resolution tasks can largely be solved by exploiting the number and gender of the antecedents, or have been handcrafted and do not reflect the diversity of naturally occurring text. We present a corpus of over 8,000 annotated text passages with ambiguous pronominal anaphora. These instances are both challenging and realistic. We show that various coreference systems, whether rule-based, feature-rich, or neural, perform significantly worse on the task than humans, who display high inter-annotator agreement. To explain this performance gap, we show empirically that state-of-the art models often fail to capture context, instead relying on the gender or number of candidate antecedents to make a decision. We then use problem-specific insights to propose a data-augmentation trick called antecedent switching to alleviate this tendency in models. Finally, we show that antecedent switching yields promising results on other tasks as well: we use it to achieve state-of-the-art results on the GAP coreference task.
2018-11-02
Annual Meeting of the Association for Computational Linguistics (publié)
Despite the recent successes of deep reinforcement learning, teaching complex motor skills to a physical robot remains a hard problem. While… (voir plus) learning directly on a real system is usually impractical, doing so in simulation has proven to be fast and safe. Nevertheless, because of the "reality gap," policies trained in simulation often perform poorly when deployed on a real system. In this work, we introduce a method for training a recurrent neural network on the differences between simulated and real robot trajectories and then using this model to augment the simulator. This Neural-Augmented Simulation (NAS) can be used to learn control policies that transfer significantly better to real environments than policies learned on existing simulators. We demonstrate the potential of our approach through a set of experiments on the Mujoco simulator with added backlash and the Poppy Ergo Jr robot. NAS allows us to learn policies that are competitive with ones that would have been learned directly on the real robot.
2018-10-23
Proceedings of The 2nd Conference on Robot Learning (publié)
Allowing humans to interactively train artificial agents to understand language instructions is desirable for both practical and scientific … (voir plus)reasons, but given the poor data efficiency of the current learning methods, this goal may require substantial research efforts. Here, we introduce the BabyAI research platform to support investigations towards including humans in the loop for grounded language learning. The BabyAI platform comprises an extensible suite of 19 levels of increasing difficulty. The levels gradually lead the agent towards acquiring a combinatorially rich synthetic language which is a proper subset of English. The platform also provides a heuristic expert agent for the purpose of simulating a human teacher. We report baseline results and estimate the amount of human involvement that would be required to train a neural network-based agent on some of the BabyAI levels. We put forward strong evidence that current deep learning methods are not yet sufficiently sample efficient when it comes to learning a language with compositional properties.
