Sudhanshu Kasewa

Yizhe Wu, Sudhanshu Kasewa, Oliver Groth et al.

In this paper we explore the richness of information captured by the latent space of a vision-based generative model. The model combines unsupervised generative learning with a task-based performance predictor to learn and to exploit task-relevant object affordances given visual observations from a reaching task, involving a scenario and a stick-like tool. While the learned embedding of the generative model captures factors of variation in 3D tool geometry (e.g. length, width, and shape), the performance predictor identifies sub-manifolds of the embedding that correlate with task success. Within a variety of scenarios, we demonstrate that traversing the latent space via backpropagation from the performance predictor allows us to imagine tools appropriate for the task at hand. Our results indicate that affordances-like the utility for reaching-are encoded along smooth trajectories in latent space. Accessing these emergent affordances by considering only high-level performance criteria (such as task success) enables an agent to manipulate tool geometries in a targeted and deliberate way.

Feryal Behbahani, Kyriacos Shiarlis, Xi Chen et al.

Learning from demonstration (LfD) is useful in settings where hand-coding behaviour or a reward function is impractical. It has succeeded in a wide range of problems but typically relies on manually generated demonstrations or specially deployed sensors and has not generally been able to leverage the copious demonstrations available in the wild: those that capture behaviours that were occurring anyway using sensors that were already deployed for another purpose, e.g., traffic camera footage capturing demonstrations of natural behaviour of vehicles, cyclists, and pedestrians. We propose Video to Behaviour (ViBe), a new approach to learn models of behaviour from unlabelled raw video data of a traffic scene collected from a single, monocular, initially uncalibrated camera with ordinary resolution. Our approach calibrates the camera, detects relevant objects, tracks them through time, and uses the resulting trajectories to perform LfD, yielding models of naturalistic behaviour. We apply ViBe to raw videos of a traffic intersection and show that it can learn purely from videos, without additional expert knowledge.

Sudhanshu Kasewa, Pontus Stenetorp, Sebastian Riedel

Grammatical error correction, like other machine learning tasks, greatly benefits from large quantities of high quality training data, which is typically expensive to produce. While writing a program to automatically generate realistic grammatical errors would be difficult, one could learn the distribution of naturallyoccurring errors and attempt to introduce them into other datasets. Initial work on inducing errors in this way using statistical machine translation has shown promise; we investigate cheaply constructing synthetic samples, given a small corpus of human-annotated data, using an off-the-rack attentive sequence-to-sequence model and a straight-forward post-processing procedure. Our approach yields error-filled artificial data that helps a vanilla bi-directional LSTM to outperform the previous state of the art at grammatical error detection, and a previously introduced model to gain further improvements of over 5% $F_{0.5}$ score. When attempting to determine if a given sentence is synthetic, a human annotator at best achieves 39.39 $F_1$ score, indicating that our model generates mostly human-like instances.