An interactive instruction following task has been proposed as a benchmark for learning to map natural language instructions and first-person vision into sequences of actions to interact with objects in a 3D simulated environment. We find that an existing end-to-end neural model for this task is not robust to variations of objects and language instructions. We assume that this problem is due to the high sensitiveness of neural feature extraction to small changes in vision and language inputs. To mitigate this problem, we propose a neuro-symbolic approach that performs reasoning over high-level symbolic representations that are robust to small changes in raw inputs. Our experiments on the ALFRED dataset show that our approach significantly outperforms the existing model by 18, 52, and 73 points in the success rate on the ToggleObject, PickupObject, and SliceObject subtasks in unseen environments respectively.

The Wasserstein barycenter has been widely studied in various fields, including natural language processing, and computer vision. However, it requires a high computational cost to solve the Wasserstein barycenter problem because the computation of the Wasserstein distance requires a quadratic time with respect to the number of supports. By contrast, the Wasserstein distance on a tree, called the tree-Wasserstein distance, can be computed in linear time and allows for the fast comparison of a large number of distributions. In this study, we propose a barycenter under the tree-Wasserstein distance, called the fixed support tree-Wasserstein barycenter (FS-TWB) and its extension, called the fixed support tree-sliced Wasserstein barycenter (FS-TSWB). More specifically, we first show that the FS-TWB and FS-TSWB problems are convex optimization problems and can be solved by using the projected subgradient descent. Moreover, we propose a more efficient algorithm to compute the subgradient and objective function value by using the properties of tree-Wasserstein barycenter problems. Through real-world experiments, we show that, by using the proposed algorithm, the FS-TWB and FS-TSWB can be solved two orders of magnitude faster than the original Wasserstein barycenter.

To measure the similarity of documents, the Wasserstein distance is a powerful tool, but it requires a high computational cost. Recently, for fast computation of the Wasserstein distance, methods for approximating the Wasserstein distance using a tree metric have been proposed. These tree-based methods allow fast comparisons of a large number of documents; however, they are unsupervised and do not learn task-specific distances. In this work, we propose the Supervised Tree-Wasserstein (STW) distance, a fast, supervised metric learning method based on the tree metric. Specifically, we rewrite the Wasserstein distance on the tree metric by the parent-child relationships of a tree, and formulate it as a continuous optimization problem using a contrastive loss. Experimentally, we show that the STW distance can be computed fast, and improves the accuracy of document classification tasks. Furthermore, the STW distance is formulated by matrix multiplications, runs on a GPU, and is suitable for batch processing. Therefore, we show that the STW distance is extremely efficient when comparing a large number of documents.