Kaimeng Xu

Quanting Xie, So Yeon Min, Pengliang Ji et al. · cmu

There is no limit to how much a robot might explore and learn, but all of that knowledge needs to be searchable and actionable. Within language research, retrieval augmented generation (RAG) has become the workhorse of large-scale non-parametric knowledge; however, existing techniques do not directly transfer to the embodied domain, which is multimodal, where data is highly correlated, and perception requires abstraction. To address these challenges, we introduce Embodied-RAG, a framework that enhances the foundational model of an embodied agent with a non-parametric memory system capable of autonomously constructing hierarchical knowledge for both navigation and language generation. Embodied-RAG handles a full range of spatial and semantic resolutions across diverse environments and query types, whether for a specific object or a holistic description of ambiance. At its core, Embodied-RAG's memory is structured as a semantic forest, storing language descriptions at varying levels of detail. This hierarchical organization allows the system to efficiently generate context-sensitive outputs across different robotic platforms. We demonstrate that Embodied-RAG effectively bridges RAG to the robotics domain, successfully handling over 250 explanation and navigation queries across kilometer-level environments, highlighting its promise as a general-purpose non-parametric system for embodied agents.

Yichun Yin, Furu Wei, Li Dong et al.

In this paper, we develop a novel approach to aspect term extraction based on unsupervised learning of distributed representations of words and dependency paths. The basic idea is to connect two words (w1 and w2) with the dependency path (r) between them in the embedding space. Specifically, our method optimizes the objective w1 + r = w2 in the low-dimensional space, where the multi-hop dependency paths are treated as a sequence of grammatical relations and modeled by a recurrent neural network. Then, we design the embedding features that consider linear context and dependency context information, for the conditional random field (CRF) based aspect term extraction. Experimental results on the SemEval datasets show that, (1) with only embedding features, we can achieve state-of-the-art results; (2) our embedding method which incorporates the syntactic information among words yields better performance than other representative ones in aspect term extraction.