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Question Answering has recently received high attention from artificial intelligence communities due to the advancements in learning technologies. Early question answering models used rule-based approaches and moved to the statistical approach to address the vastly available information. However, statistical approaches are shown to underperform in handling the dynamic nature and the variation of language. Therefore, learning models have shown the capability of handling the dynamic nature and variations in language. Many deep learning methods have been introduced to question answering. Most of the deep learning approaches have shown to achieve higher results compared to machine learning and statistical methods. The dynamic nature of language has profited from the nonlinear learning in deep learning. This has created prominent success and a spike in work on question answering. This paper discusses the successes and challenges in question answering question answering systems and techniques that are used in these challenges.

We present a novel framework for the automatic discovery and recognition of motion primitives in videos of human activities. Given the 3D pose of a human in a video, human motion primitives are discovered by optimizing the `motion flux', a quantity which captures the motion variation of a group of skeletal joints. A normalization of the primitives is proposed in order to make them invariant with respect to a subject anatomical variations and data sampling rate. The discovered primitives are unknown and unlabeled and are unsupervisedly collected into classes via a hierarchical non-parametric Bayes mixture model. Once classes are determined and labeled they are further analyzed for establishing models for recognizing discovered primitives. Each primitive model is defined by a set of learned parameters. Given new video data and given the estimated pose of the subject appearing on the video, the motion is segmented into primitives, which are recognized with a probability given according to the parameters of the learned models. Using our framework we build a publicly available dataset of human motion primitives, using sequences taken from well-known motion capture datasets. We expect that our framework, by providing an objective way for discovering and categorizing human motion, will be a useful tool in numerous research fields including video analysis, human inspired motion generation, learning by demonstration, intuitive human-robot interaction, and human behavior analysis.

To solve complex real-world problems with reinforcement learning, we cannot rely on manually specified reward functions. Instead, we can have humans communicate an objective to the agent directly. In this work, we combine two approaches to learning from human feedback: expert demonstrations and trajectory preferences. We train a deep neural network to model the reward function and use its predicted reward to train an DQN-based deep reinforcement learning agent on 9 Atari games. Our approach beats the imitation learning baseline in 7 games and achieves strictly superhuman performance on 2 games without using game rewards. Additionally, we investigate the goodness of fit of the reward model, present some reward hacking problems, and study the effects of noise in the human labels.

This manuscript surveys reinforcement learning from the perspective of optimization and control with a focus on continuous control applications. It surveys the general formulation, terminology, and typical experimental implementations of reinforcement learning and reviews competing solution paradigms. In order to compare the relative merits of various techniques, this survey presents a case study of the Linear Quadratic Regulator (LQR) with unknown dynamics, perhaps the simplest and best studied problem in optimal control. The manuscript describes how merging techniques from learning theory and control can provide non-asymptotic characterizations of LQR performance and shows that these characterizations tend to match experimental behavior. In turn, when revisiting more complex applications, many of the observed phenomena in LQR persist. In particular, theory and experiment demonstrate the role and importance of models and the cost of generality in reinforcement learning algorithms. This survey concludes with a discussion of some of the challenges in designing learning systems that safely and reliably interact with complex and uncertain environments and how tools from reinforcement learning and controls might be combined to approach these challenges.

Planar object tracking is an actively studied problem in vision-based robotic applications. While several benchmarks have been constructed for evaluating state-of-the-art algorithms, there is a lack of video sequences captured in the wild rather than in constrained laboratory environment. In this paper, we present a carefully designed planar object tracking benchmark containing 210 videos of 30 planar objects sampled in the natural environment. In particular, for each object, we shoot seven videos involving various challenging factors, namely scale change, rotation, perspective distortion, motion blur, occlusion, out-of-view, and unconstrained. The ground truth is carefully annotated semi-manually to ensure the quality. Moreover, eleven state-of-the-art algorithms are evaluated on the benchmark using two evaluation metrics, with detailed analysis provided for the evaluation results. We expect the proposed benchmark to benefit future studies on planar object tracking.

While most machine translation systems to date are trained on large parallel corpora, humans learn language in a different way: by being grounded in an environment and interacting with other humans. In this work, we propose a communication game where two agents, native speakers of their own respective languages, jointly learn to solve a visual referential task. We find that the ability to understand and translate a foreign language emerges as a means to achieve shared goals. The emergent translation is interactive and multimodal, and crucially does not require parallel corpora, but only monolingual, independent text and corresponding images. Our proposed translation model achieves this by grounding the source and target languages into a shared visual modality, and outperforms several baselines on both word-level and sentence-level translation tasks. Furthermore, we show that agents in a multilingual community learn to translate better and faster than in a bilingual communication setting.

A robot that can carry out a natural-language instruction has been a dream since before the Jetsons cartoon series imagined a life of leisure mediated by a fleet of attentive robot helpers. It is a dream that remains stubbornly distant. However, recent advances in vision and language methods have made incredible progress in closely related areas. This is significant because a robot interpreting a natural-language navigation instruction on the basis of what it sees is carrying out a vision and language process that is similar to Visual Question Answering. Both tasks can be interpreted as visually grounded sequence-to-sequence translation problems, and many of the same methods are applicable. To enable and encourage the application of vision and language methods to the problem of interpreting visually-grounded navigation instructions, we present the Matterport3D Simulator -- a large-scale reinforcement learning environment based on real imagery. Using this simulator, which can in future support a range of embodied vision and language tasks, we provide the first benchmark dataset for visually-grounded natural language navigation in real buildings -- the Room-to-Room (R2R) dataset.

We consider the multi-agent reinforcement learning setting with imperfect information in which each agent is trying to maximize its own utility. The reward function depends on the hidden state (or goal) of both agents, so the agents must infer the other players' hidden goals from their observed behavior in order to solve the tasks. We propose a new approach for learning in these domains: Self Other-Modeling (SOM), in which an agent uses its own policy to predict the other agent's actions and update its belief of their hidden state in an online manner. We evaluate this approach on three different tasks and show that the agents are able to learn better policies using their estimate of the other players' hidden states, in both cooperative and adversarial settings.

Options in reinforcement learning allow agents to hierarchically decompose a task into subtasks, having the potential to speed up learning and planning. However, autonomously learning effective sets of options is still a major challenge in the field. In this paper we focus on the recently introduced idea of using representation learning methods to guide the option discovery process. Specifically, we look at eigenoptions, options obtained from representations that encode diffusive information flow in the environment. We extend the existing algorithms for eigenoption discovery to settings with stochastic transitions and in which handcrafted features are not available. We propose an algorithm that discovers eigenoptions while learning non-linear state representations from raw pixels. It exploits recent successes in the deep reinforcement learning literature and the equivalence between proto-value functions and the successor representation. We use traditional tabular domains to provide intuition about our approach and Atari 2600 games to demonstrate its potential.

We explore deep reinforcement learning methods for multi-agent domains. We begin by analyzing the difficulty of traditional algorithms in the multi-agent case: Q-learning is challenged by an inherent non-stationarity of the environment, while policy gradient suffers from a variance that increases as the number of agents grows. We then present an adaptation of actor-critic methods that considers action policies of other agents and is able to successfully learn policies that require complex multi-agent coordination. Additionally, we introduce a training regimen utilizing an ensemble of policies for each agent that leads to more robust multi-agent policies. We show the strength of our approach compared to existing methods in cooperative as well as competitive scenarios, where agent populations are able to discover various physical and informational coordination strategies.