Ziyun Wang

Jinwook Huh, Galen Xing, Ziyun Wang et al.

Traditional motion planning is computationally burdensome for practical robots, involving extensive collision checking and considerable iterative propagation of cost values. We present a novel neural network architecture which can directly generate the cost-to-go (c2g) function for a given configuration space and a goal configuration. The output of the network is a continuous function whose gradient in configuration space can be directly used to generate trajectories in motion planning without the need for protracted iterations or extensive collision checking. This higher order function (i.e. a function generating another function) representation lies at the core of our motion planning architecture, c2g-HOF, which can take a workspace as input, and generate the cost-to-go function over the configuration space map (C-map). Simulation results for 2D and 3D environments show that c2g-HOF can be orders of magnitude faster at execution time than methods which explore the configuration space during execution. We also present an implementation of c2g-HOF which generates trajectories for robot manipulators directly from an overhead image of the workspace.

Xu Han, Hao Zhu, Pengfei Yu et al.

We present a Few-Shot Relation Classification Dataset (FewRel), consisting of 70, 000 sentences on 100 relations derived from Wikipedia and annotated by crowdworkers. The relation of each sentence is first recognized by distant supervision methods, and then filtered by crowdworkers. We adapt the most recent state-of-the-art few-shot learning methods for relation classification and conduct a thorough evaluation of these methods. Empirical results show that even the most competitive few-shot learning models struggle on this task, especially as compared with humans. We also show that a range of different reasoning skills are needed to solve our task. These results indicate that few-shot relation classification remains an open problem and still requires further research. Our detailed analysis points multiple directions for future research. All details and resources about the dataset and baselines are released on http://zhuhao.me/fewrel.

Lei Xu, Ziyun Wang, Ayana et al.

Neural models have recently been used in text summarization including headline generation. The model can be trained using a set of document-headline pairs. However, the model does not explicitly consider topical similarities and differences of documents. We suggest to categorizing documents into various topics so that documents within the same topic are similar in content and share similar summarization patterns. Taking advantage of topic information of documents, we propose topic sensitive neural headline generation model. Our model can generate more accurate summaries guided by document topics. We test our model on LCSTS dataset, and experiments show that our method outperforms other baselines on each topic and achieves the state-of-art performance.