Yufeng Zhang

Lei Han, Qingxu Zhu, Jiapeng Sheng et al.

Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or reinforcement learning approaches. These methods usually rely on physical models or handcrafted rewards to accurately describe the specific system, rather than on a generalized understanding like animals do. Here we propose a hierarchical framework to construct primitive-, environmental- and strategic-level knowledge that are all pre-trainable, reusable and enrichable for legged robots. The primitive module summarizes knowledge from animal motion data, where, inspired by large pre-trained models in language and image understanding, we introduce deep generative models to produce motor control signals stimulating legged robots to act like real animals. Then, we shape various traversing capabilities at a higher level to align with the environment by reusing the primitive module. Finally, a strategic module is trained focusing on complex downstream tasks by reusing the knowledge from previous levels. We apply the trained hierarchical controllers to the MAX robot, a quadrupedal robot developed in-house, to mimic animals, traverse complex obstacles and play in a designed challenging multi-agent chase tag game, where lifelike agility and strategy emerge in the robots.

Yufeng Zhang, Xueli Yu, Zeyu Cui et al.

Text classification is fundamental in natural language processing (NLP), and Graph Neural Networks (GNN) are recently applied in this task. However, the existing graph-based works can neither capture the contextual word relationships within each document nor fulfil the inductive learning of new words. In this work, to overcome such problems, we propose TextING for inductive text classification via GNN. We first build individual graphs for each document and then use GNN to learn the fine-grained word representations based on their local structures, which can also effectively produce embeddings for unseen words in the new document. Finally, the word nodes are aggregated as the document embedding. Extensive experiments on four benchmark datasets show that our method outperforms state-of-the-art text classification methods.

Yunan Zhang, Xiang Cheng, Yufeng Zhang et al.

Answering complex questions involving multiple entities and relations is a challenging task. Logically, the answer to a complex question should be derived by decomposing the complex question into multiple simple sub-questions and then answering those sub-questions. Existing work has followed this strategy but has not attempted to optimize the order of how those sub-questions are answered. As a result, the sub-questions are answered in an arbitrary order, leading to larger search space and a higher risk of missing an answer. In this paper, we propose a novel reinforcement learning(RL) approach to answering complex questions that can learn a policy to dynamically decide which sub-question should be answered at each stage of reasoning. We lever-age the expected value-variance criterion to enable the learned policy to balance between the risk and utility of answering a sub-question. Experiment results show that the RL approach can substantially improve the optimality of ordering the sub-questions, leading to improved accuracy of question answering. The proposed method for learning to order sub-questions is general and can thus be potentially combined with many existing ideas for answering complex questions to enhance their performance.