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This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deformation and high-speed action) and strict task requirements (defined by a precise goal specification). To address these challenges, we present Iterative Residual Policy (IRP), a general learning framework applicable to repeatable tasks with complex dynamics. IRP learns an implicit policy via delta dynamics—instead of modeling the entire dynamical system and inferring actions from that model, IRP learns delta dynamics that predict the effects of delta action on the previously observed trajectory. When combined with adaptive action sampling, the system can quickly optimize its actions online to reach a specified goal. We demonstrate the effectiveness of IRP on two tasks: whipping a rope to hit a target point and swinging a cloth to reach a target pose. Despite being trained only in simulation on a fixed robot setup, IRP is able to efficiently generalize to noisy real-world dynamics, new objects with unseen physical properties, and even different robot hardware embodiments, demonstrating its excellent generalization capability relative to alternative approaches.

 

Phonemes are defined by their relationship to words: changing a phoneme changes the word. Learning a phoneme inventory with little supervision has been a longstanding challenge with important applications to under-resourced speech technology. In this paper, we bridge the gap between the linguistic and statistical definition of phonemes and propose a novel neural discrete representation learning model for self-supervised learning of phoneme inventory with raw speech and word labels. Under mild assumptions, we prove that the phoneme inventory learned by our approach converges to the true one with an exponentially low error rate. Moreover, in experiments on TIMIT and Mboshi benchmarks, our approach consistently learns a better phoneme-level representation and achieves a lower error rate in a zero-resource phoneme recognition task than previous state-of-the-art self-supervised representation learning algorithms. 

The idea of combining multiple languages’ recordings to train a single automatic speech recognition (ASR) model brings the promise of the emergence of universal speech representation. Recently, a Transformer encoder-decoder model has been shown to leverage multilingual data well in IPA transcriptions of languages presented during training. However, the representations it learned were not successful in zero-shot transfer to unseen languages. Because that model lacks an explicit factorization of the acoustic model (AM) and language model (LM), it is unclear to what degree the performance suffered from differences in pronunciation or the mismatch in phonotactics. To gain more insight into the factors limiting zero-shot ASR transfer, we replace the encoder-decoder with a hybrid ASR system consisting of a separate AM and LM. Then, we perform an extensive evaluation of monolingual, multilingual, and crosslingual (zero-shot) acoustic and language models on a set of 13 phonetically diverse languages. We show that the gain from modeling crosslingual phonotactics is limited, and imposing a too strong model can hurt the zero-shot transfer. Furthermore, we find that a multilingual LM hurts a multilingual ASR system’s performance, and retaining only the target language’s phonotactic data in LM training is preferable.