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Navigation is a rich and well-grounded problem domain that drives progress in many different areas of research: perception, planning, memory, exploration, and optimisation in particular. Historically these challenges have been separately considered and solutions built that rely on stationary datasets - for example, recorded trajectories through an environment. These datasets cannot be used for decision-making and reinforcement learning, however, and in general the perspective of navigation as an interactive learning task, where the actions and behaviours of a learning agent are learned simultaneously with the perception and planning, is relatively unsupported. Thus, existing navigation benchmarks generally rely on static datasets (Geiger et al., 2013; Kendall et al., 2015) or simulators (Beattie et al., 2016; Shah et al., 2018). To support and validate research in end-to-end navigation, we present StreetLearn: an interactive, first-person, partially-observed visual environment that uses Google Street View for its photographic content and broad coverage, and give performance baselines for a challenging goal-driven navigation task. The environment code, baseline agent code, and the dataset are available at http://streetlearn.cc, Comment: 13 pages, 6 figures, 4 tables. arXiv admin note: text overlap with arXiv:1804.00168

Navigating and understanding the real world remains a key challenge in machine learning and inspires a great variety of research in areas such as language grounding, planning, navigation and computer vision. We propose an instruction-following task that requires all of the above, and which combines the practicality of simulated environments with the challenges of ambiguous, noisy real world data. StreetNav is built on top of Google Street View and provides visually accurate environments representing real places. Agents are given driving instructions which they must learn to interpret in order to successfully navigate in this environment. Since humans equipped with driving instructions can readily navigate in previously unseen cities, we set a high bar and test our trained agents for similar cognitive capabilities. Although deep reinforcement learning (RL) methods are frequently evaluated only on data that closely follow the training distribution, our dataset extends to multiple cities and has a clean train/test separation. This allows for thorough testing of generalisation ability. This paper presents the StreetNav environment and tasks, models that establish strong baselines, and extensive analysis of the task and the trained agents.

Natural language processing has made significant inroads into learning the semantics of words through distributional approaches, however representations learnt via these methods fail to capture certain kinds of information implicit in the real world. In particular, spatial relations are encoded in a way that is inconsistent with human spatial reasoning and lacking invariance to viewpoint changes. We present a system capable of capturing the semantics of spatial relations such as behind, left of, etc from natural language. Our key contributions are a novel multi-modal objective based on generating images of scenes from their textual descriptions, and a new dataset on which to train it. We demonstrate that internal representations are robust to meaning preserving transformations of descriptions (paraphrase invariance), while viewpoint invariance is an emergent property of the system.

We introduce hyperbolic attention networks to endow neural networks with enough capacity to match the complexity of data with hierarchical and power-law structure. A few recent approaches have successfully demonstrated the benefits of imposing hyperbolic geometry on the parameters of shallow networks. We extend this line of work by imposing hyperbolic geometry on the activations of neural networks. This allows us to exploit hyperbolic geometry to reason about embeddings produced by deep networks. We achieve this by re-expressing the ubiquitous mechanism of soft attention in terms of operations defined for hyperboloid and Klein models. Our method shows improvements in terms of generalization on neural machine translation, learning on graphs and visual question answering tasks while keeping the neural representations compact.

We show that dropout training is best understood as performing MAP estimation concurrently for a family of conditional models whose objectives are themselves lower bounded by the original dropout objective. This discovery allows us to pick any model from this family after training, which leads to a substantial improvement on regularisation-heavy language modelling. The family includes models that compute a power mean over the sampled dropout masks, and their less stochastic subvariants with tighter and higher lower bounds than the fully stochastic dropout objective. We argue that since the deterministic subvariant's bound is equal to its objective, and the highest amongst these models, the predominant view of it as a good approximation to MC averaging is misleading. Rather, deterministic dropout is the best available approximation to the true objective.

The ability of algorithms to evolve or learn (compositional) communication protocols has traditionally been studied in the language evolution literature through the use of emergent communication tasks. Here we scale up this research by using contemporary deep learning methods and by training reinforcement-learning neural network agents on referential communication games. We extend previous work, in which agents were trained in symbolic environments, by developing agents which are able to learn from raw pixel data, a more challenging and realistic input representation. We find that the degree of structure found in the input data affects the nature of the emerged protocols, and thereby corroborate the hypothesis that structured compositional language is most likely to emerge when agents perceive the world as being structured., Comment: To appear at ICLR 2018

Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that relies on developing an internal representation of space, grounded by recognisable landmarks and robust visual processing, that can simultaneously support continuous self-localisation ("I am here") and a representation of the goal ("I am going there"). Building upon recent research that applies deep reinforcement learning to maze navigation problems, we present an end-to-end deep reinforcement learning approach that can be applied on a city scale. Recognising that successful navigation relies on integration of general policies with locale-specific knowledge, we propose a dual pathway architecture that allows locale-specific features to be encapsulated, while still enabling transfer to multiple cities. We present an interactive navigation environment that uses Google StreetView for its photographic content and worldwide coverage, and demonstrate that our learning method allows agents to learn to navigate multiple cities and to traverse to target destinations that may be kilometres away. The project webpage http://streetlearn.cc contains a video summarising our research and showing the trained agent in diverse city environments and on the transfer task, the form to request the StreetLearn dataset and links to further resources. The StreetLearn environment code is available at https://github.com/deepmind/streetlearn, Comment: 17 pages, 16 figures, published at NeurIPS 2018

Reading comprehension (RC)---in contrast to information retrieval---requires integrating information and reasoning about events, entities, and their relations across a full document. Question answering is conventionally used to assess RC ability, in both artificial agents and children learning to read. However, existing RC datasets and tasks are dominated by questions that can be solved by selecting answers using superficial information (e.g., local context similarity or global term frequency); they thus fail to test for the essential integrative aspect of RC. To encourage progress on deeper comprehension of language, we present a new dataset and set of tasks in which the reader must answer questions about stories by reading entire books or movie scripts. These tasks are designed so that successfully answering their questions requires understanding the underlying narrative rather than relying on shallow pattern matching or salience. We show that although humans solve the tasks easily, standard RC models struggle on the tasks presented here. We provide an analysis of the dataset and the challenges it presents.

Neural network-based systems can now learn to locate the referents of words and phrases in images, answer questions about visual scenes, and execute symbolic instructions as first-person actors in partially-observable worlds. To achieve this so-called grounded language learning, models must overcome challenges that infants face when learning their first words. While it is notable that models with no meaningful prior knowledge overcome these obstacles, researchers currently lack a clear understanding of how they do so, a problem that we attempt to address in this paper. For maximum control and generality, we focus on a simple neural network-based language learning agent, trained via policy-gradient methods, which can interpret single-word instructions in a simulated 3D world. Whilst the goal is not to explicitly model infant word learning, we take inspiration from experimental paradigms in developmental psychology and apply some of these to the artificial agent, exploring the conditions under which established human biases and learning effects emerge. We further propose a novel method for visualising semantic representations in the agent.

We are increasingly surrounded by artificially intelligent technology that takes decisions and executes actions on our behalf. This creates a pressing need for general means to communicate with, instruct and guide artificial agents, with human language the most compelling means for such communication. To achieve this in a scalable fashion, agents must be able to relate language to the world and to actions; that is, their understanding of language must be grounded and embodied. However, learning grounded language is a notoriously challenging problem in artificial intelligence research. Here we present an agent that learns to interpret language in a simulated 3D environment where it is rewarded for the successful execution of written instructions. Trained via a combination of reinforcement and unsupervised learning, and beginning with minimal prior knowledge, the agent learns to relate linguistic symbols to emergent perceptual representations of its physical surroundings and to pertinent sequences of actions. The agent's comprehension of language extends beyond its prior experience, enabling it to apply familiar language to unfamiliar situations and to interpret entirely novel instructions. Moreover, the speed with which this agent learns new words increases as its semantic knowledge grows. This facility for generalising and bootstrapping semantic knowledge indicates the potential of the present approach for reconciling ambiguous natural language with the complexity of the physical world., Comment: 16 pages, 8 figures

We present a novel semi-supervised approach for sequence transduction and apply it to semantic parsing. The unsupervised component is based on a generative model in which latent sentences generate the unpaired logical forms. We apply this method to a number of semantic parsing tasks focusing on domains with limited access to labelled training data and extend those datasets with synthetically generated logical forms.

Many language generation tasks require the production of text conditioned on both structured and unstructured inputs. We present a novel neural network architecture which generates an output sequence conditioned on an arbitrary number of input functions. Crucially, our approach allows both the choice of conditioning context and the granularity of generation, for example characters or tokens, to be marginalised, thus permitting scalable and effective training. Using this framework, we address the problem of generating programming code from a mixed natural language and structured specification. We create two new data sets for this paradigm derived from the collectible trading card games Magic the Gathering and Hearthstone. On these, and a third preexisting corpus, we demonstrate that marginalising multiple predictors allows our model to outperform strong benchmarks.

While most approaches to automatically recognizing entailment relations have used classifiers employing hand engineered features derived from complex natural language processing pipelines, in practice their performance has been only slightly better than bag-of-word pair classifiers using only lexical similarity. The only attempt so far to build an end-to-end differentiable neural network for entailment failed to outperform such a simple similarity classifier. In this paper, we propose a neural model that reads two sentences to determine entailment using long short-term memory units. We extend this model with a word-by-word neural attention mechanism that encourages reasoning over entailments of pairs of words and phrases. Furthermore, we present a qualitative analysis of attention weights produced by this model, demonstrating such reasoning capabilities. On a large entailment dataset this model outperforms the previous best neural model and a classifier with engineered features by a substantial margin. It is the first generic end-to-end differentiable system that achieves state-of-the-art accuracy on a textual entailment dataset., Comment: ICLR 2016 camera-ready, 9 pages, 10 figures (incl. subfigures)

Teaching machines to read natural language documents remains an elusive challenge. Machine reading systems can be tested on their ability to answer questions posed on the contents of documents that they have seen, but until now large scale training and test datasets have been missing for this type of evaluation. In this work we define a new methodology that resolves this bottleneck and provides large scale supervised reading comprehension data. This allows us to develop a class of attention based deep neural networks that learn to read real documents and answer complex questions with minimal prior knowledge of language structure., Comment: Appears in: Advances in Neural Information Processing Systems 28 (NIPS 2015). 14 pages, 13 figures

Recently, strong results have been demonstrated by Deep Recurrent Neural Networks on natural language transduction problems. In this paper we explore the representational power of these models using synthetic grammars designed to exhibit phenomena similar to those found in real transduction problems such as machine translation. These experiments lead us to propose new memory-based recurrent networks that implement continuously differentiable analogues of traditional data structures such as Stacks, Queues, and DeQues. We show that these architectures exhibit superior generalisation performance to Deep RNNs and are often able to learn the underlying generating algorithms in our transduction experiments., Comment: 14 pages, 4 figures, NIPS 2015

Answer sentence selection is the task of identifying sentences that contain the answer to a given question. This is an important problem in its own right as well as in the larger context of open domain question answering. We propose a novel approach to solving this task via means of distributed representations, and learn to match questions with answers by considering their semantic encoding. This contrasts prior work on this task, which typically relies on classifiers with large numbers of hand-crafted syntactic and semantic features and various external resources. Our approach does not require any feature engineering nor does it involve specialist linguistic data, making this model easily applicable to a wide range of domains and languages. Experimental results on a standard benchmark dataset from TREC demonstrate that---despite its simplicity---our model matches state of the art performance on the answer sentence selection task., Comment: 9 pages, accepted by NIPS deep learning workshop

The mathematical representation of semantics is a key issue for Natural Language Processing (NLP). A lot of research has been devoted to finding ways of representing the semantics of individual words in vector spaces. Distributional approaches --- meaning distributed representations that exploit co-occurrence statistics of large corpora --- have proved popular and successful across a number of tasks. However, natural language usually comes in structures beyond the word level, with meaning arising not only from the individual words but also the structure they are contained in at the phrasal or sentential level. Modelling the compositional process by which the meaning of an utterance arises from the meaning of its parts is an equally fundamental task of NLP. This dissertation explores methods for learning distributed semantic representations and models for composing these into representations for larger linguistic units. Our underlying hypothesis is that neural models are a suitable vehicle for learning semantically rich representations and that such representations in turn are suitable vehicles for solving important tasks in natural language processing. The contribution of this thesis is a thorough evaluation of our hypothesis, as part of which we introduce several new approaches to representation learning and compositional semantics, as well as multiple state-of-the-art models which apply distributed semantic representations to various tasks in NLP., Comment: DPhil Thesis, University of Oxford, Submitted and accepted in 2014

We present a probabilistic model that simultaneously learns alignments and distributed representations for bilingual data. By marginalizing over word alignments the model captures a larger semantic context than prior work relying on hard alignments. The advantage of this approach is demonstrated in a cross-lingual classification task, where we outperform the prior published state of the art., Comment: Proceedings of ACL 2014 (Short Papers)

Many successful approaches to semantic parsing build on top of the syntactic analysis of text, and make use of distributional representations or statistical models to match parses to ontology-specific queries. This paper presents a novel deep learning architecture which provides a semantic parsing system through the union of two neural models of language semantics. It allows for the generation of ontology-specific queries from natural language statements and questions without the need for parsing, which makes it especially suitable to grammatically malformed or syntactically atypical text, such as tweets, as well as permitting the development of semantic parsers for resource-poor languages., Comment: In Proceedings of the Semantic Parsing Workshop at ACL 2014 (forthcoming)

We present a novel technique for learning semantic representations, which extends the distributional hypothesis to multilingual data and joint-space embeddings. Our models leverage parallel data and learn to strongly align the embeddings of semantically equivalent sentences, while maintaining sufficient distance between those of dissimilar sentences. The models do not rely on word alignments or any syntactic information and are successfully applied to a number of diverse languages. We extend our approach to learn semantic representations at the document level, too. We evaluate these models on two cross-lingual document classification tasks, outperforming the prior state of the art. Through qualitative analysis and the study of pivoting effects we demonstrate that our representations are semantically plausible and can capture semantic relationships across languages without parallel data., Comment: Proceedings of ACL 2014 (Long papers)

Distributed representations of meaning are a natural way to encode covariance relationships between words and phrases in NLP. By overcoming data sparsity problems, as well as providing information about semantic relatedness which is not available in discrete representations, distributed representations have proven useful in many NLP tasks. Recent work has shown how compositional semantic representations can successfully be applied to a number of monolingual applications such as sentiment analysis. At the same time, there has been some initial success in work on learning shared word-level representations across languages. We combine these two approaches by proposing a method for learning distributed representations in a multilingual setup. Our model learns to assign similar embeddings to aligned sentences and dissimilar ones to sentence which are not aligned while not requiring word alignments. We show that our representations are semantically informative and apply them to a cross-lingual document classification task where we outperform the previous state of the art. Further, by employing parallel corpora of multiple language pairs we find that our model learns representations that capture semantic relationships across languages for which no parallel data was used., Comment: To appear at ICLR 2014

With the increasing empirical success of distributional models of compositional semantics, it is timely to consider the types of textual logic that such models are capable of capturing. In this paper, we address shortcomings in the ability of current models to capture logical operations such as negation. As a solution we propose a tripartite formulation for a continuous vector space representation of semantics and subsequently use this representation to develop a formal compositional notion of negation within such models., Comment: 9 pages, to appear in Proceedings of the 2013 Workshop on Continuous Vector Space Models and their Compositionality