Jing Wei

Tianying Wang, En Yen Puang, Marcus Lee et al.

We present an end-to-end Reinforcement Learning(RL) framework for robotic manipulation tasks, using a robust and efficient keypoints representation. The proposed method learns keypoints from camera images as the state representation, through a self-supervised autoencoder architecture. The keypoints encode the geometric information, as well as the relationship of the tool and target in a compact representation to ensure efficient and robust learning. After keypoints learning, the RL step then learns the robot motion from the extracted keypoints state representation. The keypoints and RL learning processes are entirely done in the simulated environment. We demonstrate the effectiveness of the proposed method on robotic manipulation tasks including grasping and pushing, in different scenarios. We also investigate the generalization capability of the trained model. In addition to the robust keypoints representation, we further apply domain randomization and adversarial training examples to achieve zero-shot sim-to-real transfer in real-world robotic manipulation tasks.

Hao Zhang, Aixin Sun, Wei Jing et al.

Temporal sentence grounding in videos (TSGV), \aka natural language video localization (NLVL) or video moment retrieval (VMR), aims to retrieve a temporal moment that semantically corresponds to a language query from an untrimmed video. Connecting computer vision and natural language, TSGV has drawn significant attention from researchers in both communities. This survey attempts to provide a summary of fundamental concepts in TSGV and current research status, as well as future research directions. As the background, we present a common structure of functional components in TSGV, in a tutorial style: from feature extraction from raw video and language query, to answer prediction of the target moment. Then we review the techniques for multimodal understanding and interaction, which is the key focus of TSGV for effective alignment between the two modalities. We construct a taxonomy of TSGV techniques and elaborate the methods in different categories with their strengths and weaknesses. Lastly, we discuss issues with the current TSGV research and share our insights about promising research directions.

Flint Xiaofeng Fan, Yining Ma, Zhongxiang Dai et al.

The growing literature of Federated Learning (FL) has recently inspired Federated Reinforcement Learning (FRL) to encourage multiple agents to federatively build a better decision-making policy without sharing raw trajectories. Despite its promising applications, existing works on FRL fail to I) provide theoretical analysis on its convergence, and II) account for random system failures and adversarial attacks. Towards this end, we propose the first FRL framework the convergence of which is guaranteed and tolerant to less than half of the participating agents being random system failures or adversarial attackers. We prove that the sample efficiency of the proposed framework is guaranteed to improve with the number of agents and is able to account for such potential failures or attacks. All theoretical results are empirically verified on various RL benchmark tasks.

Sicheng Yu, Hao Zhang, Wei Jing et al.

Multiple-Choice Question Answering (MCQA) is a challenging task in machine reading comprehension. The main challenge in MCQA is to extract "evidence" from the given context that supports the correct answer. In the OpenbookQA dataset, the requirement of extracting "evidence" is particularly important due to the mutual independence of sentences in the context. Existing work tackles this problem by annotated evidence or distant supervision with rules which overly rely on human efforts. To address the challenge, we propose a simple yet effective approach termed evidence filtering to model the relationships between the encoded contexts with respect to different options collectively and to potentially highlight the evidence sentences and filter out unrelated sentences. In addition to the effective reduction of human efforts of our approach compared, through extensive experiments on OpenbookQA, we show that the proposed approach outperforms the models that use the same backbone and more training data; and our parameter analysis also demonstrates the interpretability of our approach.