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1. Guiding Multi-Step Rearrangement Tasks with Natural Language Instructions

   Stengel-Eskin, Elias ; Hundt, Andrew ; He, Zhuohong ; Murali, Aditya ; Gopalan, Nakul ; Gombolay, Matthew ; Hager, Gregory ( October 2021 , Proceedings of Machine Learning Research)

   Faust, Aleksandra ; Hsu, David ; Neumann, Gerhard (Ed.)

   Enabling human operators to interact with robotic agents using natural language would allow non-experts to intuitively instruct these agents. Towards this goal, we propose a novel Transformer-based model which enables a user to guide a robot arm through a 3D multi-step manipulation task with natural language commands. Our system maps images and commands to masks over grasp or place locations, grounding the language directly in perceptual space. In a suite of block rearrangement tasks, we show that these masks can be combined with an existing manipulation framework without re-training, greatly improving learning efficiency. Our masking model is several orders of magnitude more sample efficient than typical Transformer models, operating with hundreds, not millions, of examples. Our modular design allows us to leverage supervised and reinforcement learning, providing an easy interface for experimentation with different architectures. Our model completes block manipulation tasks with synthetic commands more often than a UNet-based baseline, and learns to localize actions correctly while creating a mapping of symbols to perceptual input that supports compositional reasoning. We provide a valuable resource for 3D manipulation instruction following research by porting an existing 3D block dataset with crowdsourced language to a simulated environment. Our method’s absolute improvement in identifying the correct block on the ported dataset demonstrates its ability to handle syntactic and lexical variation. 

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2. Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents

   Wenlong Huang ; Pieter Abbeel ; Deepak Pathak ; Igor Mordatch ( July 2022 , International Conference on Machine Learning)

   Can world knowledge learned by large language models (LLMs) be used to act in interactive environments? In this paper, we investigate the possibility of grounding high-level tasks, expressed in natural language (e.g. "make breakfast"), to a chosen set of actionable steps (e.g. "open fridge"). While prior work focused on learning from explicit step-by-step examples of how to act, we surprisingly find that if pre-trained LMs are large enough and prompted appropriately, they can effectively decompose high-level tasks into low-level plans without any further training. However, the plans produced naively by LLMs often cannot map precisely to admissible actions. We propose a procedure that conditions on existing demonstrations and semantically translates the plans to admissible actions. Our evaluation in the recent VirtualHome environment shows that the resulting method substantially improves executability over the LLM baseline. The conducted human evaluation reveals a trade-off between executability and correctness but shows a promising sign towards extracting actionable knowledge from language models. 

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3. WebShop: Towards Scalable Real-World Web Interaction with Grounded Language Agents

   Yao, Shunyu ; Chen, Howard ; Yang, John ; Narasimhan, Karthik ( January 2022 , Advances in neural information processing systems)

   Most existing benchmarks for grounding language in interactive environments either lack realistic linguistic elements, or prove difficult to scale up due to substantial human involvement in the collection of data or feedback signals. We develop WebShop – a simulated e-commerce website environment with 1.18 million real-world products and 12,087 crowd-sourced text instructions. In this environment, an agent needs to navigate multiple types of webpages and issue diverse actions to find, customize, and purchase a product given an instruction. WebShop provides several challenges including understanding compositional instructions, query (re-)formulation, dealing with noisy text in webpages, and performing strategic exploration. We collect over 1,600 human trajectories to first validate the benchmark, then train and evaluate a diverse range of agents using reinforcement learning, imitation learning, and pre-trained image and language models. Our best model achieves a task success rate of 29%, which significantly outperforms rule heuristics but is far lower than expert human performance (59%). We also analyze agent and human trajectories and ablate various model components to provide insights for developing future agents with stronger language understanding and decision making abilities. Finally, we show our agent trained on WebShop exhibits non-trivial sim-to-real transfer when evaluated on amazon.com and ebay.com, indicating the potential value of our benchmark for developing practical web agents that can operate in the wild. 

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4. The Deep Learning Epilepsy Detection Challenge: Design, Implementation, and Test of a New Crowd-Sourced AI Challenge Ecosystem

   Kiral, Isabell ; Roy, Subhrajit ; Mummert, Todd ; Braz, Alan ; Tsay, Jason ; Tang, Jianbin ; Asif, Umar ; Schaffter, Thomas ; Mehmet, Eren ; Picone, Joseph ; et al ( April 2019 , Challenges in Machine Learning Competitions for All (CiML))

   null (Ed.)

   The DeepLearningEpilepsyDetectionChallenge: design, implementation, andtestofanewcrowd-sourced AIchallengeecosystem Isabell Kiral*, Subhrajit Roy*, Todd Mummert*, Alan Braz*, Jason Tsay, Jianbin Tang, Umar Asif, Thomas Schaffter, Eren Mehmet, The IBM Epilepsy Consortium◊ , Joseph Picone, Iyad Obeid, Bruno De Assis Marques, Stefan Maetschke, Rania Khalaf†, Michal Rosen-Zvi† , Gustavo Stolovitzky† , Mahtab Mirmomeni† , Stefan Harrer† * These authors contributed equally to this work † Corresponding authors: rkhalaf@us.ibm.com, rosen@il.ibm.com, gustavo@us.ibm.com, mahtabm@au1.ibm.com, sharrer@au.ibm.com ◊ Members of the IBM Epilepsy Consortium are listed in the Acknowledgements section J. Picone and I. Obeid are with Temple University, USA. T. Schaffter is with Sage Bionetworks, USA. E. Mehmet is with the University of Illinois at Urbana-Champaign, USA. All other authors are with IBM Research in USA, Israel and Australia. Introduction This decade has seen an ever-growing number of scientific fields benefitting from the advances in machine learning technology and tooling. More recently, this trend reached the medical domain, with applications reaching from cancer diagnosis [1] to the development of brain-machine-interfaces [2]. While Kaggle has pioneered the crowd-sourcing of machine learning challenges to incentivise data scientists from around the world to advance algorithm and model design, the increasing complexity of problem statements demands of participants to be expert data scientists, deeply knowledgeable in at least one other scientific domain, and competent software engineers with access to large compute resources. People who match this description are few and far between, unfortunately leading to a shrinking pool of possible participants and a loss of experts dedicating their time to solving important problems. Participation is even further restricted in the context of any challenge run on confidential use cases or with sensitive data. Recently, we designed and ran a deep learning challenge to crowd-source the development of an automated labelling system for brain recordings, aiming to advance epilepsy research. A focus of this challenge, run internally in IBM, was the development of a platform that lowers the barrier of entry and therefore mitigates the risk of excluding interested parties from participating. The challenge: enabling wide participation With the goal to run a challenge that mobilises the largest possible pool of participants from IBM (global), we designed a use case around previous work in epileptic seizure prediction [3]. In this “Deep Learning Epilepsy Detection Challenge”, participants were asked to develop an automatic labelling system to reduce the time a clinician would need to diagnose patients with epilepsy. Labelled training and blind validation data for the challenge were generously provided by Temple University Hospital (TUH) [4]. TUH also devised a novel scoring metric for the detection of seizures that was used as basis for algorithm evaluation [5]. In order to provide an experience with a low barrier of entry, we designed a generalisable challenge platform under the following principles: 1. No participant should need to have in-depth knowledge of the specific domain. (i.e. no participant should need to be a neuroscientist or epileptologist.) 2. No participant should need to be an expert data scientist. 3. No participant should need more than basic programming knowledge. (i.e. no participant should need to learn how to process fringe data formats and stream data efficiently.) 4. No participant should need to provide their own computing resources. In addition to the above, our platform should further • guide participants through the entire process from sign-up to model submission, • facilitate collaboration, and • provide instant feedback to the participants through data visualisation and intermediate online leaderboards. The platform The architecture of the platform that was designed and developed is shown in Figure 1. The entire system consists of a number of interacting components. (1) A web portal serves as the entry point to challenge participation, providing challenge information, such as timelines and challenge rules, and scientific background. The portal also facilitated the formation of teams and provided participants with an intermediate leaderboard of submitted results and a final leaderboard at the end of the challenge. (2) IBM Watson Studio [6] is the umbrella term for a number of services offered by IBM. Upon creation of a user account through the web portal, an IBM Watson Studio account was automatically created for each participant that allowed users access to IBM's Data Science Experience (DSX), the analytics engine Watson Machine Learning (WML), and IBM's Cloud Object Storage (COS) [7], all of which will be described in more detail in further sections. (3) The user interface and starter kit were hosted on IBM's Data Science Experience platform (DSX) and formed the main component for designing and testing models during the challenge. DSX allows for real-time collaboration on shared notebooks between team members. A starter kit in the form of a Python notebook, supporting the popular deep learning libraries TensorFLow [8] and PyTorch [9], was provided to all teams to guide them through the challenge process. Upon instantiation, the starter kit loaded necessary python libraries and custom functions for the invisible integration with COS and WML. In dedicated spots in the notebook, participants could write custom pre-processing code, machine learning models, and post-processing algorithms. The starter kit provided instant feedback about participants' custom routines through data visualisations. Using the notebook only, teams were able to run the code on WML, making use of a compute cluster of IBM's resources. The starter kit also enabled submission of the final code to a data storage to which only the challenge team had access. (4) Watson Machine Learning provided access to shared compute resources (GPUs). Code was bundled up automatically in the starter kit and deployed to and run on WML. WML in turn had access to shared storage from which it requested recorded data and to which it stored the participant's code and trained models. (5) IBM's Cloud Object Storage held the data for this challenge. Using the starter kit, participants could investigate their results as well as data samples in order to better design custom algorithms. (6) Utility Functions were loaded into the starter kit at instantiation. This set of functions included code to pre-process data into a more common format, to optimise streaming through the use of the NutsFlow and NutsML libraries [10], and to provide seamless access to the all IBM services used. Not captured in the diagram is the final code evaluation, which was conducted in an automated way as soon as code was submitted though the starter kit, minimising the burden on the challenge organising team. Figure 1: High-level architecture of the challenge platform Measuring success The competitive phase of the "Deep Learning Epilepsy Detection Challenge" ran for 6 months. Twenty-five teams, with a total number of 87 scientists and software engineers from 14 global locations participated. All participants made use of the starter kit we provided and ran algorithms on IBM's infrastructure WML. Seven teams persisted until the end of the challenge and submitted final solutions. The best performing solutions reached seizure detection performances which allow to reduce hundred-fold the time eliptologists need to annotate continuous EEG recordings. Thus, we expect the developed algorithms to aid in the diagnosis of epilepsy by significantly shortening manual labelling time. Detailed results are currently in preparation for publication. Equally important to solving the scientific challenge, however, was to understand whether we managed to encourage participation from non-expert data scientists. Figure 2: Primary occupation as reported by challenge participants Out of the 40 participants for whom we have occupational information, 23 reported Data Science or AI as their main job description, 11 reported being a Software Engineer, and 2 people had expertise in Neuroscience. Figure 2 shows that participants had a variety of specialisations, including some that are in no way related to data science, software engineering, or neuroscience. No participant had deep knowledge and experience in data science, software engineering and neuroscience. Conclusion Given the growing complexity of data science problems and increasing dataset sizes, in order to solve these problems, it is imperative to enable collaboration between people with differences in expertise with a focus on inclusiveness and having a low barrier of entry. We designed, implemented, and tested a challenge platform to address exactly this. Using our platform, we ran a deep-learning challenge for epileptic seizure detection. 87 IBM employees from several business units including but not limited to IBM Research with a variety of skills, including sales and design, participated in this highly technical challenge. 

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5. Language Understanding for Field and Service Robots in a Priori Unknown Environments

   https://doi.org/10.55417/fr.2022040  

   Walter, Matthew ; Patki, Siddharth ; Daniele, Andrea ; Fahnestock, Ethan ; Duvallet, Felix ; Hemachandra, Sachithra ; Oh, Jean ; Stentz, Anthony ; Roy, Nicholas ; Howard, Thomas ( March 2022 , Field Robotics)

   Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to operate not only in isolation, but also with and alongside humans in our complex environments. Realizing this opportunity requires an efficient and flexible medium through which humans can communicate with collaborative robots. Natural language provides one such medium, and through significant progress in statistical methods for natural-language understanding, robots are now able to interpret a diverse array of free-form navigation, manipulation, and mobile-manipulation commands. However, most contemporary approaches require a detailed, prior spatial-semantic map of the robot’s environment that models the space of possible referents of an utterance. Consequently, these methods fail when robots are deployed in new, previously unknown, or partially-observed environments, particularly when mental models of the environment differ between the human operator and the robot. This paper provides a comprehensive description of a novel learning framework that allows field and service robots to interpret and correctly execute natural-language instructions in a priori unknown, unstructured environments. Integral to our approach is its use of language as a “sensor”—inferring spatial, topological, and semantic information implicit in natural-language utterances and then exploiting this information to learn a distribution over a latent environment model. We incorporate this distribution in a probabilistic, language grounding model and infer a distribution over a symbolic representation of the robot’s action space, consistent with the utterance. We use imitation learning to identify a belief-space policy that reasons over the environment and behavior distributions. We evaluate our framework through a variety of different navigation and mobile-manipulation experiments involving an unmanned ground vehicle, a robotic wheelchair, and a mobile manipulator, demonstrating that the algorithm can follow natural-language instructions without prior knowledge of the environment. 

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