Abstract-We introduce a functional gradient descent trajectory optimization algorithm for robot motion planning in Reproducing Kernel Hilbert Spaces (RKHSs). Functional gradient algorithms are a popular choice for motion planning in complex many-degree-of-freedom robots, since they (in theory) work by directly optimizing within a space of continuous trajectories to avoid obstacles while maintaining geometric properties such as smoothness. However, in practice, implementations such as CHOMP and TrajOpt typically commit to a fixed, finite parametrization of trajectories, often as a sequence of waypoints. Such a parameterization can lose much of the benefit of reasoning in a continuous trajectory space: e.g., it can require taking an inconveniently small step size and large number of iterations to maintain smoothness. Our work generalizes functional gradient trajectory optimization by formulating it as minimization of a cost functional in an RKHS. This generalization lets us represent trajectories as linear combinations of kernel functions. As a result, we are able to take larger steps and achieve a locally optimal trajectory in just a few iterations. Depending on the selection of kernel, we can directly optimize in spaces of trajectories that are inherently smooth in velocity, jerk, curvature, etc., and that have a low-dimensional, adaptively chosen parameterization. Our experiments illustrate the effectiveness of the planner for different kernels, including Gaussian RBFs with independent and coupled interactions among robot joints, Laplacian RBFs, and B-splines, as compared to the standard discretized waypoint representation.
Named entity recognition (NER) and entity linking (EL) are two fundamentally related tasks, since in order to perform EL, first the mentions to entities have to be detected. However, most entity linking approaches disregard the mention detection part, assuming that the correct mentions have been previously detected. In this paper, we perform joint learning of NER and EL to leverage their relatedness and obtain a more robust and generalisable system. For that, we introduce a model inspired by the Stack-LSTM approach . We observe that, in fact, doing multi-task learning of NER and EL improves the performance in both tasks when comparing with models trained with individual objectives. Furthermore, we achieve results competitive with the state-of-the-art in both NER and EL.
We present a new neural model for text summarization that first extracts sentences from a document and then compresses them. The proposed model offers a balance that sidesteps the difficulties in abstractive methods while generating more concise summaries than extractive methods. In addition, our model dynamically determines the length of the output summary based on the gold summaries it observes during training, and does not require length constraints typical to extractive summarization. The model achieves state-of-the-art results on the CNN/DailyMail and Newsroom datasets, improving over current extractive and abstractive methods. Human evaluations demonstrate that our model generates concise and informative summaries. We also make available a new dataset of oracle compressive summaries derived automatically from the CNN/DailyMail reference summaries.
Fact checking is an essential task in journalism; its importance has been highlighted due to recently increased concerns and efforts in combating misinformation. In this paper, we present an automated fact checking platform which given a claim, it retrieves relevant textual evidence from a document collection, predicts whether each piece of evidence supports or refutes the claim, and returns a final verdict. We describe the architecture of the system and the user interface, focusing on the choices made to improve its user friendliness and transparency. We conduct a user study of the factchecking platform in a journalistic setting: we integrated it with a collection of news articles and provide an evaluation of the platform using feedback from journalists in their workflow. We found that the predictions of our platform were correct 58% of the time, and 59% of the returned evidence was relevant.
Current state-of-the-art text generators build on powerful language models such as GPT-2, achieving impressive performance. However, to avoid degenerate text, they require sampling from a modified softmax, via temperature parameters or ad-hoc truncation techniques, as in top-k or nucleus sampling. This creates a mismatch between training and testing conditions. In this paper, we use the recently introduced entmax transformation to train and sample from a natively sparse language model, avoiding this mismatch. The result is a text generator with favorable performance in terms of fluency and consistency, fewer repetitions, and n-gram diversity closer to human text. In order to evaluate our model, we propose three new metrics for comparing sparse or truncated distributions: -perplexity, sparsemax score, and Jensen-Shannon divergence. Human-evaluated experiments in story completion and dialogue generation show that entmax sampling leads to more engaging and coherent stories and conversations. Entmax SamplingKey to our method is the recently proposed αentmax family of transformations 2 (Peters et al., 2019), parametrized by a scalar parameter α ≥ 1: α-entmax(z t ) := argmax p∈ d
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