Jing Huang

Tian Yu, Jing Huang, Qing Chang

A long-standing goal of the Human-Robot Collaboration (HRC) in manufacturing systems is to increase the collaborative working efficiency. In line with the trend of Industry 4.0 to build up the smart manufacturing system, the Co-robot in the HRC system deserves better designing to be more self-organized and to find the superhuman proficiency by self-learning. Inspired by the impressive machine learning algorithms developed by Google Deep Mind like Alphago Zero, in this paper, the human-robot collaborative assembly working process is formatted into a chessboard and the selection of moves in the chessboard is used to analogize the decision making by both human and robot in the HRC assembly working process. To obtain the optimal policy of working sequence to maximize the working efficiency, the robot is trained with a self-play algorithm based on reinforcement learning, without guidance or domain knowledge beyond game rules. A neural network is also trained to predict the distribution of the priority of move selections and whether a working sequence is the one resulting in the maximum of the HRC efficiency. An adjustable desk assembly is used to demonstrate the proposed HRC assembly algorithm and its efficiency.

Shuaichen Chang, Pengfei Liu, Yun Tang et al.

Recent years have seen great success in the use of neural seq2seq models on the text-to-SQL task. However, little work has paid attention to how these models generalize to realistic unseen data, which naturally raises a question: does this impressive performance signify a perfect generalization model, or are there still some limitations? In this paper, we first diagnose the bottleneck of text-to-SQL task by providing a new testbed, in which we observe that existing models present poor generalization ability on rarely-seen data. The above analysis encourages us to design a simple but effective auxiliary task, which serves as a supportive model as well as a regularization term to the generation task to increase the models generalization. Experimentally, We evaluate our models on a large text-to-SQL dataset WikiSQL. Compared to a strong baseline coarse-to-fine model, our models improve over the baseline by more than 3% absolute in accuracy on the whole dataset. More interestingly, on a zero-shot subset test of WikiSQL, our models achieve 5% absolute accuracy gain over the baseline, clearly demonstrating its superior generalizability.