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This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a finite-memory policy, under which the agent satisfies high-level complex tasks expressed as linear temporal logic (LTL) with desired satisfaction probability. In particular, the cost optimization of the trajectory that satisfies infinite-horizon tasks is considered, and the trade-off between reducing the expected mean cost and maximizing the probability of task satisfaction is analyzed. Instead of using traditional Rabin automata, the LTL formulas are converted to limit-deterministic B\"uchi automata (LDBA) with a more straightforward accepting condition and a more compact graph structure. The novelty of this work lies in the consideration of the cases that LTL specifications can be potentially infeasible and the development of a relaxed product MDP between PL-MDP and LDBA. The relaxed product MDP allows the agent to revise its motion plan whenever the task is not fully feasible and to quantify the violation measurement of the revised plan. A multi-objective optimization problem is then formulated to jointly consider the probability of the task satisfaction, the violation with respect to original task constraints, and the implementation cost of the policy execution, which is solved via coupled linear programs. To the best of our knowledge, it is the first work that bridges the gap between planning revision and optimal control synthesis of both plan prefix and plan suffix of the agent trajectory over the infinite horizon. Experimental results are provided to demonstrate the effectiveness of the proposed framework.

Active inference is a unifying theory for perception and action resting upon the idea that the brain maintains an internal model of the world by minimizing free energy. From a behavioral perspective, active inference agents can be seen as self-evidencing beings that act to fulfill their optimistic predictions, namely preferred outcomes or goals. In contrast, reinforcement learning requires human-designed rewards to accomplish any desired outcome. Although active inference could provide a more natural self-supervised objective for control, its applicability has been limited because of the shortcomings in scaling the approach to complex environments. In this work, we propose a contrastive objective for active inference that strongly reduces the computational burden in learning the agent's generative model and planning future actions. Our method performs notably better than likelihood-based active inference in image-based tasks, while also being computationally cheaper and easier to train. We compare to reinforcement learning agents that have access to human-designed reward functions, showing that our approach closely matches their performance. Finally, we also show that contrastive methods perform significantly better in the case of distractors in the environment and that our method is able to generalize goals to variations in the background.

Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may not be accessible. We present a new method for imitation solely from observations that achieves comparable performance to experts on challenging continuous control tasks while also exhibiting robustness in the presence of observations unrelated to the task. Our method, which we call FORM (for "Future Observation Reward Model") is derived from an inverse RL objective and imitates using a model of expert behavior learned by generative modelling of the expert's observations, without needing ground truth actions. We show that FORM performs comparably to a strong baseline IRL method (GAIL) on the DeepMind Control Suite benchmark, while outperforming GAIL in the presence of task-irrelevant features.

As a natural language generation task, it is challenging to generate informative and coherent review text. In order to enhance the informativeness of the generated text, existing solutions typically learn to copy entities or triples from knowledge graphs (KGs). However, they lack overall consideration to select and arrange the incorporated knowledge, which tends to cause text incoherence. To address the above issue, we focus on improving entity-centric coherence of the generated reviews by leveraging the semantic structure of KGs. In this paper, we propose a novel Coherence Enhanced Text Planning model (CETP) based on knowledge graphs (KGs) to improve both global and local coherence for review generation. The proposed model learns a two-level text plan for generating a document: (1) the document plan is modeled as a sequence of sentence plans in order, and (2) the sentence plan is modeled as an entity-based subgraph from KG. Local coherence can be naturally enforced by KG subgraphs through intra-sentence correlations between entities. For global coherence, we design a hierarchical self-attentive architecture with both subgraph- and node-level attention to enhance the correlations between subgraphs. To our knowledge, we are the first to utilize a KG-based text planning model to enhance text coherence for review generation. Extensive experiments on three datasets confirm the effectiveness of our model on improving the content coherence of generated texts.

Many important real-world problems have action spaces that are high-dimensional, continuous or both, making full enumeration of all possible actions infeasible. Instead, only small subsets of actions can be sampled for the purpose of policy evaluation and improvement. In this paper, we propose a general framework to reason in a principled way about policy evaluation and improvement over such sampled action subsets. This sample-based policy iteration framework can in principle be applied to any reinforcement learning algorithm based upon policy iteration. Concretely, we propose Sampled MuZero, an extension of the MuZero algorithm that is able to learn in domains with arbitrarily complex action spaces by planning over sampled actions. We demonstrate this approach on the classical board game of Go and on two continuous control benchmark domains: DeepMind Control Suite and Real-World RL Suite.

Solving complex, temporally-extended tasks is a long-standing problem in reinforcement learning (RL). We hypothesize that one critical element of solving such problems is the notion of compositionality. With the ability to learn concepts and sub-skills that can be composed to solve longer tasks, i.e. hierarchical RL, we can acquire temporally-extended behaviors. However, acquiring effective yet general abstractions for hierarchical RL is remarkably challenging. In this paper, we propose to use language as the abstraction, as it provides unique compositional structure, enabling fast learning and combinatorial generalization, while retaining tremendous flexibility, making it suitable for a variety of problems. Our approach learns an instruction-following low-level policy and a high-level policy that can reuse abstractions across tasks, in essence, permitting agents to reason using structured language. To study compositional task learning, we introduce an open-source object interaction environment built using the MuJoCo physics engine and the CLEVR engine. We find that, using our approach, agents can learn to solve to diverse, temporally-extended tasks such as object sorting and multi-object rearrangement, including from raw pixel observations. Our analysis find that the compositional nature of language is critical for learning diverse sub-skills and systematically generalizing to new sub-skills in comparison to non-compositional abstractions that use the same supervision.

Current captioning approaches can describe images using black-box architectures whose behavior is hardly controllable and explainable from the exterior. As an image can be described in infinite ways depending on the goal and the context at hand, a higher degree of controllability is needed to apply captioning algorithms in complex scenarios. In this paper, we introduce a novel framework for image captioning which can generate diverse descriptions by allowing both grounding and controllability. Given a control signal in the form of a sequence or set of image regions, we generate the corresponding caption through a recurrent architecture which predicts textual chunks explicitly grounded on regions, following the constraints of the given control. Experiments are conducted on Flickr30k Entities and on COCO Entities, an extended version of COCO in which we add grounding annotations collected in a semi-automatic manner. Results demonstrate that our method achieves state of the art performances on controllable image captioning, in terms of caption quality and diversity. Code will be made publicly available.

Answering visual questions need acquire daily common knowledge and model the semantic connection among different parts in images, which is too difficult for VQA systems to learn from images with the only supervision from answers. Meanwhile, image captioning systems with beam search strategy tend to generate similar captions and fail to diversely describe images. To address the aforementioned issues, we present a system to have these two tasks compensate with each other, which is capable of jointly producing image captions and answering visual questions. In particular, we utilize question and image features to generate question-related captions and use the generated captions as additional features to provide new knowledge to the VQA system. For image captioning, our system attains more informative results in term of the relative improvements on VQA tasks as well as competitive results using automated metrics. Applying our system to the VQA tasks, our results on VQA v2 dataset achieve 65.8% using generated captions and 69.1% using annotated captions in validation set and 68.4% in the test-standard set. Further, an ensemble of 10 models results in 69.7% in the test-standard split.

Scientific publications have evolved several features for mitigating vocabulary mismatch when indexing, retrieving, and computing similarity between articles. These mitigation strategies range from simply focusing on high-value article sections, such as titles and abstracts, to assigning keywords, often from controlled vocabularies, either manually or through automatic annotation. Various document representation schemes possess different cost-benefit tradeoffs. In this paper, we propose to model different representations of the same article as translations of each other, all generated from a common latent representation in a multilingual topic model. We start with a methodological overview on latent variable models for parallel document representations that could be used across many information science tasks. We then show how solving the inference problem of mapping diverse representations into a shared topic space allows us to evaluate representations based on how topically similar they are to the original article. In addition, our proposed approach provides means to discover where different concept vocabularies require improvement.