Korea, Republic of

Current NLP techniques have been greatly applied in different domains. In this paper, we propose a human-in-the-loop framework for robotic grasping in cluttered scenes, investigating a language interface to the grasping process, which allows the user to intervene by natural language commands. This framework is constructed on a state-of-the-art grasping baseline, where we substitute a scene-graph representation with a text representation of the scene using BERT. Experiments on both simulation and physical robot show that the proposed method outperforms conventional object-agnostic and scene-graph based methods in the literature. In addition, we find that with human intervention, performance can be significantly
improved.

COLING 2022

Human-in-the-loop Robotic Grasping using BERT Scene Representation

robotic grasping

scene understanding

nlp application

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The great event is jointly organized by the Association for Computational Linguistics (ACL) and Asian Federation of Natural Language Processing (AFNLP).

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COLING, the International Conference on Computational Linguistics, is one of the premier conferences for the natural language processing and computational linguistics.

In knowledge-grounded dialogue generation, pre-trained language models (PLMs) can be expected to deepen the fusing of dialogue context and knowledge because of their superior ability of semantic understanding. Unlike adopting the plain text knowledge, it is thorny to leverage the structural commonsense knowledge when using PLMs because most PLMs can only operate plain texts. Thus, linearizing commonsense knowledge facts into plan text is a compulsory trick. However, a dialogue is always aligned to a lot of retrieved fact candidates; as a result, the linearized text is always lengthy and then significantly increases the burden of using PLMs. To address this issue, we propose a novel two-stage framework SAKDP. In the first pre-screening stage, we use a ranking network \textit{PriorRanking} to estimate the relevance of a retrieved knowledge fact. Thus, facts can be clustered into three sections of different priorities. As priority decreases, the relevance decreases, and the number of included facts increases. In the next dialogue generation stage, we use section-aware strategies to encode the linearized knowledge. The powerful but expensive PLM is only used for a few facts in the higher priority sections, reaching the performance-efficiency balance. Both the automatic and human evaluation demonstrate the superior performance of this work.

Section-Aware Commonsense Knowledge-Grounded Dialogue Generation with Pre-trained Language Model

Supervised open relation extraction aims to discover novel relations by leveraging supervised data of pre-defined relations. However, most existing methods do not achieve effective knowledge transfer from pre-defined relations to novel relations, they have difficulties generating high-quality pseudo-labels for unsupervised data of novel relations and usually suffer from the error propagation issue. In this paper,
we propose a Cluster-aware Pseudo-Labeling (CaPL) method to improve the pseudo-labels quality and transfer more knowledge for discovering novel relations. Specifically, the model is first pre-trained with the pre-defined relations to learn the relation representations. To improve the pseudo-labels quality, the distances between each instance and all cluster centers are used to generate cluster-aware soft pseudolabels for novel relations. To mitigate the catastrophic forgetting issue, we design the consistency regularization loss to make better use of the pseudo-labels and jointly train the model with both unsupervised and supervised data. Experimental results on two public datasets demonstrate that our proposed method achieves new state-of-the-arts performance.

Cluster-aware Pseudo-Labeling for Supervised Open Relation Extraction

Meta-learning has emerged as an effective approach for few-shot text classification. However, current studies fail to realize the importance of the semantic interaction between sentence features and neglect to enhance the generalization ability of the model to new tasks. In this paper, we integrate an adversarial network architecture into the meta-learning system and leverage cost-effective modules to build a novel few-shot classification framework named SaAML. Significantly, our approach can exploit the temporal convolutional network to encourage more discriminative representation learning and explore the attention mechanism to promote more comprehensive feature expression, thus resulting in better adaptation for new
classes. Through a series of experiments on four benchmark datasets, we demonstrate that our new framework acquires considerable superiority over state-of-the-art methods in all datasets, increasing the performance of 1-shot classification and 5-shot classification by 7.15% and 2.89%, respectively.

Sentence-aware Adversarial Meta-Learning for Few-Shot Text Classification

Traditional training paradigms for extractive and abstractive summarization systems always only use token-level or sentence-level training objectives. However, the output summary is always evaluated from summary-level which leads to the inconsistency in training and evalu- ation. In this paper, we propose a Contrastive Learning based re-ranking framework for one- stage summarization called COLO. By mod- eling a contrastive objective, we show that the summarization model is able to directly gener- ate summaries according to the summary-level score without additional modules and parame- ters. Extensive experiments demonstrate that COLO boosts the extractive and abstractive re- sults of one-stage systems on CNN/DailyMail benchmark to 44.58 and 46.33 ROUGE-1 score while preserving the parameter efficiency and inference efficiency. Compared with state-of- the-art multi-stage systems, we save more than 100 GPU training hours and obtaining 3~8 speed-up ratio during inference while main- taining comparable results.

CoLo: A Contrastive Learning based Re-ranking Framework for One-Stage Summarization

This presentation will introduce our paper "Diversifying Neural Text Generation with Part-of-Speech Guided Softmax and Sampling". The paper's abstract is as follows:
Neural text generation models are likely to suffer from the low-diversity problem. Various decoding strategies and training-based methods have been proposed to promote diversity only by exploiting contextual features, but rarely do they consider incorporating syntactic structure clues. In this work, we propose using linguistic annotation, i.e., part-of-speech (POS), to guide the text generation. In detail, we introduce POS Guided Softmax to explicitly model two posterior probabilities: (i) next-POS, and (ii) next-token from the vocabulary of the target POS. A POS Guided Sampling strategy is further proposed to address the low-diversity problem by enriching the diversity of POS. Extensive experiments and human evaluations show that, compared with existing state-of-the-art methods, our POS Guided Softmax and Sampling (POSG) can generate more diverse text while maintaining comparable quality.

Diversifying Neural Text Generation with Part-of-Speech Guided Softmax and Sampling

Aspect Sentiment Triplet Extraction (ASTE) aims at extracting triplets from a given sentence, where each triplet includes an aspect, its sentiment polarity, and a corresponding opinion explaining the polarity. Existing methods are poor at detecting complicated relations between aspects and opinions as well as classifying multiple sentiment polarities in a sentence. Detecting unclear boundaries of multi-word aspects and opinions is also a challenge. In this paper, we propose a Multi-Task Dual-Tree Network (MTDTN) to address these issues. We employ a constituency tree and a modified dependency tree in two sub-tasks of Aspect Opinion Co-Extraction (AOCE) and ASTE, respectively. To enhance the information interaction between the two sub-tasks, we further design a Transition-Based Inference Strategy (TBIS) that transfers the boundary information from tags of AOCE to ASTE through a transition matrix. Extensive experiments are conducted on four popular datasets, and the results show the effectiveness of our model.

A Multi-Task Dual-Tree Network for Aspect Sentiment Triplet Extraction

Treebank selection for parsing evaluation and the spurious effects that might arise from a biased choice have not been explored in detail. This paper studies how evaluating on a single subset of treebanks can lead to weak conclusions. First, we take a few contrasting parsers, and run them on subsets of treebanks proposed in previous work, whose use was justified (or not) on criteria such as typology or data scarcity. Second, we run a large-scale version of this experiment, create vast amounts of random subsets of treebanks, and compare on them many parsers whose scores are available. The results show substantial variability across subsets and that although establishing guidelines for good treebank selection is hard, it is possible to detect potentially harmful strategies.

The Fragility of Multi-Treebank Parsing Evaluation

Recently, many task-oriented dialogue systems
need to serve users in different languages. However,
it is time-consuming to collect enough
data of each language for training. Thus, zeroshot
adaptation of cross-lingual task-oriented
dialog systems has been studied. Most of existing
methods consider the word-level alignments
to conduct two main tasks for taskoriented
dialogue system, i.e., intent detection
and slot filling, and they rarely explore the dependency
relations among these two tasks. In
this paper, we propose a hierarchical framework
to classify the pre-defined intents in the
high-level and fulfill slot filling under the guidance
of intent in the low-level. Particularly, we
incorporate sentence-level alignment among
different languages to enhance the performance
of intent detection. The extensive experiments
report that our proposed method achieves the
SOTA performance on the public task-oriented
dialog dataset.

HCLD: A Hierarchical Framework for Zero-shot Cross-lingual Dialogue System

Cross-lingual Abstract Meaning Representation (AMR) parsers are currently evaluated in comparison to gold English AMRs, despite parsing a language other than English, due to the lack of multilingual AMR evaluation metrics. This evaluation practice is problematic because of the established effect of source language on AMR structure. In this work, we present three multilingual adaptations of monolingual AMR evaluation metrics and compare the performance of these metrics to sentence-level human judgments. We then use our most highly correlated metric to evaluate the output of state-of-the-art cross-lingual AMR parsers, finding that Smatch may still be a useful metric in comparison to gold English AMRs, while our multilingual adaptation of S2match (XS2match) is best for comparison with gold in-language AMRs.

Accounting for Language Effect in the Evaluation of Cross-lingual AMR Parsers

Word ordering is a constrained language generation task taking unordered words as input. Existing work uses linear models and neural networks for the task, yet pre-trained language models have not been studied in word ordering, let alone why they help. We use BART as an instance and show its effectiveness in the task. To explain why BART helps word ordering, we extend analysis with probing and empirically identify that syntactic dependency knowledge in BART is a reliable explanation. We also report performance gains with BART in the related partial tree linearization task, which readily extends our analysis.

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Human-in-the-loop Robotic Grasping using BERT Scene Representation

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