An official website of the United States government
Robots are often built from standardized assemblies, (e.g. arms, legs, or fingers), but each robot must be trained from scratch to control all the actuators of all the parts together. In this paper we demonstrate a new approach that takes a single robot and its controller as input and produces a set of modular controllers for each of these assemblies such that when a new robot is built from the same parts, its control can be quickly learned by reusing the modular controllers. We achieve this with a framework called MeMo which learns (Me)aningful, (Mo)dular controllers. Specifically, we propose a novel modularity objective to learn an appropriate division of labor among the modules. We demonstrate that this objective can be optimized simultaneously with standard behavior cloning loss via noise injection. We benchmark our framework in locomotion and grasping environments on simple to complex robot morphology transfer. We also show that the modules help in task transfer. On both structure and task transfer, MeMo achieves improved training efficiency to graph neural network and Transformer baselines.
more »
« less
CMU-01 at the SIGMORPHON 2019 Shared Task on Crosslinguality and Context in Morphology
This paper presents the submission by the CMU-01 team to the SIGMORPHON 2019 task 2 of Morphological Analysis and Lemmatization in Context. This task requires us to produce the lemma and morpho-syntactic description of each token in a sequence, for 107 treebanks. We approach this task with a hierarchical neural conditional random field (CRF) model which predicts each coarse-grained feature (eg. POS, Case, etc.) independently. However, most treebanks are under-resourced, thus making it challenging to train deep neural models for them. Hence, we propose a multi-lingual transfer training regime where we transfer from multiple related languages that share similar typology.
more »
« less
- Award ID(s):
- 1812327
- PAR ID:
- 10098356
- Date Published:
- Journal Name:
- SIGMORPHON 2019: 16th SIGMORPHON Workshop on Computational Research in Phonetics, Phonology, and Morphology
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
This paper studies continual learning (CL) for sentiment classification (SC). In this setting, the CL system learns a sequence of SC tasks incrementally in a neural network, where each task builds a classifier to classify the sentiment of reviews of a particular product category or domain. Two natural questions are: Can the system transfer the knowledge learned in the past from the previous tasks to the new task to help it learn a better model for the new task? And, can old models for previous tasks be improved in the process as well? This paper proposes a novel technique called KAN to achieve these objectives. KAN can markedly improve the SC accuracy of both the new task and the old tasks via forward and backward knowledge transfer. The effectiveness of KAN is demonstrated through extensive experiments.more » « less
-
Cross-lingual transfer is an effective way to build syntactic analysis tools in low-resource languages. However, transfer is difficult when transferring to typologically distant languages, especially when neither annotated target data nor parallel corpora are available. In this paper, we focus on methods for cross-lingual transfer to distant languages and propose to learn a generative model with a structured prior that utilizes labeled source data and unlabeled target data jointly. The parameters of source model and target model are softly shared through a regularized log likelihood objective. An invertible projection is employed to learn a new interlingual latent embedding space that compensates for imperfect crosslingual word embedding input. We evaluate our method on two syntactic tasks: part-ofspeech (POS) tagging and dependency parsing. On the Universal Dependency Treebanks, we use English as the only source corpus and transfer to a wide range of target languages. On the 10 languages in this dataset that are distant from English, our method yields an average of 5.2% absolute improvement on POS tagging and 8.3% absolute improvement on dependency parsing over a direct transfer method using state-of-the-art discriminative models.more » « less
-
By learning a sequence of tasks continually, an agent in continual learning (CL) can improve the learning performance of both a new task and `old' tasks by leveraging the forward knowledge transfer and the backward knowledge transfer, respectively. However, most existing CL methods focus on addressing catastrophic forgetting in neural networks by minimizing the modification of the learnt model for old tasks. This inevitably limits the backward knowledge transfer from the new task to the old tasks, because judicious model updates could possibly improve the learning performance of the old tasks as well. To tackle this problem, we first theoretically analyze the conditions under which updating the learnt model of old tasks could be beneficial for CL and also lead to backward knowledge transfer, based on the gradient projection onto the input subspaces of old tasks. Building on the theoretical analysis, we next develop a ContinUal learning method with Backward knowlEdge tRansfer (CUBER), for a fixed capacity neural network without data replay. In particular, CUBER first characterizes the task correlation to identify the positively correlated old tasks in a layer-wise manner, and then selectively modifies the learnt model of the old tasks when learning the new task. Experimental studies show that CUBER can even achieve positive backward knowledge transfer on several existing CL benchmarks for the first time without data replay, where the related baselines still suffer from catastrophic forgetting (negative backward knowledge transfer). The superior performance of CUBER on the backward knowledge transfer also leads to higher accuracy accordingly.more » « less
-
Text generation systems are ubiquitous in natural language processing applications. However, evaluation of these systems remains a challenge, especially in multilingual settings. In this paper, we propose L’AMBRE – a metric to evaluate the morphosyntactic well-formedness of text using its dependency parse and morphosyntactic rules of the language. We present a way to automatically extract various rules governing morphosyntax directly from dependency treebanks. To tackle the noisy outputs from text generation systems, we propose a simple methodology to train robust parsers. We show the effectiveness of our metric on the task of machine translation through a diachronic study of systems translating into morphologically-rich languages.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- The DOI is not currently available.
