Natural-language-facilitated human-robot cooperation (NLC), in which natural language (NL) is used to share knowledge between a human and a robot for conducting intuitive human-robot cooperation (HRC), is continuously developing in the recent decade. Currently, NLC is used in several robotic domains such as manufacturing, daily assistance and health caregiving. It is necessary to summarize current NLC-based robotic systems and discuss the future developing trends, providing helpful information for future NLC research. In this review, we first analyzed the driving forces behind the NLC research. Regarding to a robot s cognition level during the cooperation, the NLC implementations then were categorized into four types {NL-based control, NL-based robot training, NL-based task execution, NL-based social companion} for comparison and discussion. Last based on our perspective and comprehensive paper review, the future research trends were discussed.

In this paper, we consider an infinite dimensional exponential family, $\mathcal{P}$ of probability densities, which are parametrized by functions in a reproducing kernel Hilbert space, $H$ and show it to be quite rich in the sense that a broad class of densities on $\mathbb{R}^d$ can be approximated arbitrarily well in Kullback-Leibler (KL) divergence by elements in $\mathcal{P}$. The main goal of the paper is to estimate an unknown density, $p_0$ through an element in $\mathcal{P}$. Standard techniques like maximum likelihood estimation (MLE) or pseudo MLE (based on the method of sieves), which are based on minimizing the KL divergence between $p_0$ and $\mathcal{P}$, do not yield practically useful estimators because of their inability to efficiently handle the log-partition function. Instead, we propose an estimator, $\hat{p}_n$ based on minimizing the \emph{Fisher divergence}, $J(p_0\Vert p)$ between $p_0$ and $p\in \mathcal{P}$, which involves solving a simple finite-dimensional linear system. When $p_0\in\mathcal{P}$, we show that the proposed estimator is consistent, and provide a convergence rate of $n^{-\min\left\{\frac{2}{3},\frac{2\beta+1}{2\beta+2}\right\}}$ in Fisher divergence under the smoothness assumption that $\log p_0\in\mathcal{R}(C^\beta)$ for some $\beta\ge 0$, where $C$ is a certain Hilbert-Schmidt operator on $H$ and $\mathcal{R}(C^\beta)$ denotes the image of $C^\beta$. We also investigate the misspecified case of $p_0\notin\mathcal{P}$ and show that $J(p_0\Vert\hat{p}_n)\rightarrow \inf_{p\in\mathcal{P}}J(p_0\Vert p)$ as $n\rightarrow\infty$, and provide a rate for this convergence under a similar smoothness condition as above. Through numerical simulations we demonstrate that the proposed estimator outperforms the non-parametric kernel density estimator, and that the advantage with the proposed estimator grows as $d$ increases.

It is difficult to train a personalized task-oriented dialogue system because the data collected from each individual is often insufficient. Personalized dialogue systems trained on a small dataset can overfit and make it difficult to adapt to different user needs. One way to solve this problem is to consider a collection of multiple users' data as a source domain and an individual user's data as a target domain, and to perform a transfer learning from the source to the target domain. By following this idea, we propose "PETAL"(PErsonalized Task-oriented diALogue), a transfer-learning framework based on POMDP to learn a personalized dialogue system. The system first learns common dialogue knowledge from the source domain and then adapts this knowledge to the target user. This framework can avoid the negative transfer problem by considering differences between source and target users. The policy in the personalized POMDP can learn to choose different actions appropriately for different users. Experimental results on a real-world coffee-shopping data and simulation data show that our personalized dialogue system can choose different optimal actions for different users, and thus effectively improve the dialogue quality under the personalized setting.

The Bayesian community should really start going to ICLR. They really should have started going years ago. For too long we Bayesians have, quite arrogantly, dismissed deep neural networks as unprincipled, dumb black boxes that lack elegance. We said that highly over-parametrised models fitted via maximum likelihood can't possibly work, they will overfit, won't generalise, etc. We touted our Bayesian nonparametric models instead: Chinese restaurants, Indian buffets, Gaussian processes. And, when things started looking really dire for us Bayesians, we even formed an alliance with kernel people, who used to be our mortal enemies just years before because they like convex optimisation.

Innovation diffusion has been studied extensively in a variety of disciplines, including sociology, economics, marketing, ecology, and computer science. Traditional literature on innovation diffusion has been dominated by models of aggregate behavior and trends. However, the agent-based modeling (ABM) paradigm is gaining popularity as it captures agent heterogeneity and enables fine-grained modeling of interactions mediated by social and geographic networks. While most ABM work on innovation diffusion is theoretical, empirically grounded models are increasingly important, particularly in guiding policy decisions. We present a critical review of empirically grounded agent-based models of innovation diffusion, developing a categorization of this research based on types of agent models as well as applications. By connecting the modeling methodologies in the fields of information and innovation diffusion, we suggest that the maximum likelihood estimation framework widely used in the former is a promising paradigm for calibration of agent-based models for innovation diffusion. Although many advances have been made to standardize ABM methodology, we identify four major issues in model calibration and validation, and suggest potential solutions.

We empirically characterize the performance of discriminative and generative LSTM models for text classification. We find that although RNN-based generative models are more powerful than their bag-of-words ancestors (e.g., they account for conditional dependencies across words in a document), they have higher asymptotic error rates than discriminatively trained RNN models. However we also find that generative models approach their asymptotic error rate more rapidly than their discriminative counterparts---the same pattern that Ng & Jordan (2001) proved holds for linear classification models that make more naive conditional independence assumptions. Building on this finding, we hypothesize that RNN-based generative classification models will be more robust to shifts in the data distribution. This hypothesis is confirmed in a series of experiments in zero-shot and continual learning settings that show that generative models substantially outperform discriminative models.

Process mining techniques focus on extracting insight in processes from event logs. Process mining has the potential to provide valuable insights in (un)healthy habits and to contribute to ambient assisted living solutions when applied on data from smart home environments. However, events recorded in smart home environments are on the level of sensor triggers, at which process discovery algorithms produce overgeneralizing process models that allow for too much behavior and that are difficult to interpret for human experts. We show that abstracting the events to a higher-level interpretation can enable discovery of more precise and more comprehensible models. We present a framework for the extraction of features that can be used for abstraction with supervised learning methods that is based on the XES IEEE standard for event logs. This framework can automatically abstract sensor-level events to their interpretation at the human activity level, after training it on training data for which both the sensor and human activity events are known. We demonstrate our abstraction framework on three real-life smart home event logs and show that the process models that can be discovered after abstraction are more precise indeed.

Incremental methods for structure learning of pairwise Markov random fields (MRFs), such as grafting, improve scalability to large systems by avoiding inference over the entire feature space in each optimization step. Instead, inference is performed over an incrementally grown active set of features. In this paper, we address the computational bottlenecks that current techniques still suffer by introducing online edge grafting, an incremental, structured method that activates edges as groups of features in a streaming setting. The framework is based on reservoir sampling of edges that satisfy a necessary activation condition, approximating the search for the optimal edge to activate. Online edge grafting performs an informed edge search set reorganization using search history and structure heuristics. Experiments show a significant computational speedup for structure learning and a controllable trade-off between the speed and the quality of learning.

Variational inference is a powerful approach for approximate posterior inference. However, it is sensitive to initialization and can be subject to poor local optima. In this paper, we develop proximity variational inference (PVI). PVI is a new method for optimizing the variational objective that constrains subsequent iterates of the variational parameters to robustify the optimization path. Consequently, PVI is less sensitive to initialization and optimization quirks and finds better local optima. We demonstrate our method on three proximity statistics. We study PVI on a Bernoulli factor model and sigmoid belief network with both real and synthetic data and compare to deterministic annealing (Katahira et al., 2008). We highlight the flexibility of PVI by designing a proximity statistic for Bayesian deep learning models such as the variational autoencoder (Kingma and Welling, 2014; Rezende et al., 2014). Empirically, we show that PVI consistently finds better local optima and gives better predictive performance.

Growing interest in automatic speaker verification (ASV) systems has lead to significant quality improvement of spoofing attacks on them. Many research works confirm that despite the low equal error rate (EER) ASV systems are still vulnerable to spoofing attacks. In this work we overview different acoustic feature spaces and classifiers to determine reliable and robust countermeasures against spoofing attacks. We compared several spoofing detection systems, presented so far, on the development and evaluation datasets of the Automatic Speaker Verification Spoofing and Countermeasures (ASVspoof) Challenge 2015. Experimental results presented in this paper demonstrate that the use of magnitude and phase information combination provides a substantial input into the efficiency of the spoofing detection systems. Also waveletbased features show impressive results in terms of equal error rate. In our overview we compare spoofing performance for systems based on different classifiers. Comparison results demonstrate that the linear SVM classifier outperforms the conventional GMM approach. However, many researchers inspired by the great success of deep neural networks (DNN) approaches in the automatic speech recognition, applied DNN in the spoofing detection task and obtained quite low EER for known and unknown type of spoofing attacks.