Hybrid retrievers can take advantage of both sparse and dense retrievers. Previous hybrid retrievers leverage indexing-heavy dense retrievers. In this work, we study "Is it possible to reduce the indexing memory of hybrid retrievers without sacrificing performance"? Driven by this question, we leverage an indexing-efficient dense retriever (i.e. DrBoost) and introduce a LITE retriever that further reduces the memory of DrBoost. LITE is jointly trained on contrastive learning and knowledge distillation from DrBoost. Then, we integrate BM25, a sparse retriever, with either LITE or DrBoost to form light hybrid retrievers. Our Hybrid-LITE retriever saves 13X memory while maintaining 98.0% performance of the hybrid retriever of BM25 and DPR. In addition, we study the generalization capacity of our light hybrid retrievers on out-of-domain dataset and a set of adversarial attacks datasets. Experiments showcase that light hybrid retrievers achieve better generalization performance than individual sparse and dense retrievers. Nevertheless, our analysis shows that there is a large room to improve the robustness of retrievers, suggesting a new research direction.

We present an empirical study of adapting an existing pretrained text-to-text model for long-sequence inputs. Through a comprehensive study along three axes of the pretraining pipeline -- model architecture, optimization objective, and pretraining corpus, we propose an effective recipe to build long-context models from existing short-context models. Specifically, we replace the full attention in transformers with pooling-augmented blockwise attention, and pretrain the model with a masked-span prediction task with spans of varying length. In terms of the pretraining corpus, we find that using randomly concatenated short-documents from a large open-domain corpus results in better performance than using existing long document corpora which are typically limited in their domain coverage. With these findings, we build a long-context model that achieves competitive performance on long-text QA tasks and establishes the new state of the art on five long-text summarization datasets, often outperforming previous methods with larger model sizes. Our code has been released at https://github.com/facebookresearch/bart_ls.

Although widely adopted, existing approaches for fine-tuning pre-trained language models have been shown to be unstable across hyper-parameter settings, motivating recent work on trust region methods. In this paper, we present a simplified and efficient method rooted in trust region theory that replaces previously used adversarial objectives with parametric noise (sampling from either a normal or uniform distribution), thereby discouraging representation change during fine-tuning when possible without hurting performance. We also introduce a new analysis to motivate the use of trust region methods more generally, by studying representational collapse; the degradation of generalizable representations from pre-trained models as they are fine-tuned for a specific end task. Extensive experiments show that our fine-tuning method matches or exceeds the performance of previous trust region methods on a range of understanding and generation tasks (including DailyMail/CNN, Gigaword, Reddit TIFU, and the GLUE benchmark), while also being much faster. We also show that it is less prone to representation collapse; the pre-trained models maintain more generalizable representations every time they are fine-tuned.

Imitation Learning has empowered recent advances in learning robotic manipulation tasks by addressing shortcomings of Reinforcement Learning such as exploration and reward specification. However, research in this area has been limited to modest-sized datasets due to the difficulty of collecting large quantities of task demonstrations through existing mechanisms. This work introduces RoboTurk to address this challenge. RoboTurk is a crowdsourcing platform for high quality 6-DoF trajectory based teleoperation through the use of widely available mobile devices (e.g. iPhone). We evaluate RoboTurk on three manipulation tasks of varying timescales (15-120s) and observe that our user interface is statistically similar to special purpose hardware such as virtual reality controllers in terms of task completion times. Furthermore, we observe that poor network conditions, such as low bandwidth and high delay links, do not substantially affect the remote users' ability to perform task demonstrations successfully on RoboTurk. Lastly, we demonstrate the efficacy of RoboTurk through the collection of a pilot dataset; using RoboTurk, we collected 137.5 hours of manipulation data from remote workers, amounting to over 2200 successful task demonstrations in 22 hours of total system usage. We show that the data obtained through RoboTurk enables policy learning on multi-step manipulation tasks with sparse rewards and that using larger quantities of demonstrations during policy learning provides benefits in terms of both learning consistency and final performance. For additional results, videos, and to download our pilot dataset, visit $\href{http://roboturk.stanford.edu/}{\texttt{roboturk.stanford.edu}}$

We consider partially observable Markov decision processes (POMDPs) with a set of target states and positive integer costs associated with every transition. The traditional optimization objective (stochastic shortest path) asks to minimize the expected total cost until the target set is reached. We extend the traditional framework of POMDPs to model energy consumption, which represents a hard constraint. The energy levels may increase and decrease with transitions, and the hard constraint requires that the energy level must remain positive in all steps till the target is reached. First, we present a novel algorithm for solving POMDPs with energy levels, developing on existing POMDP solvers and using RTDP as its main method. Our second contribution is related to policy representation. For larger POMDP instances the policies computed by existing solvers are too large to be understandable. We present an automated procedure based on machine learning techniques that automatically extracts important decisions of the policy allowing us to compute succinct human readable policies. Finally, we show experimentally that our algorithm performs well and computes succinct policies on a number of POMDP instances from the literature that were naturally enhanced with energy levels.