Jointly Improving Parsing and Perception for Natural Language Commands through Human-Robot Dialog

Enhancing Robot Task Planning and Execution through Multi-Layer Large Language Models

Large language models have found utility in the domain of robot task planning and task decomposition. Nevertheless, the direct application of these models for instructing robots in task execution is not without its challenges. Limitations arise in handling more intricate tasks, encountering difficulties in effective interaction with the environment, and facing constraints in the practical executability of machine control instructions directly generated by such models. In response to these challenges, this research advocates for the implementation of a multi-layer large language model to augment a robot's proficiency in handling complex tasks. The proposed model facilitates a meticulous layer-by-layer decomposition of tasks through the integration of multiple large language models, with the overarching goal of enhancing the accuracy of task planning. Within the task decomposition process, a visual language model is introduced as a sensor for environment perception. The outcomes of this perception process are subsequently assimilated into the large language model, thereby amalgamating the task objectives with environmental information. This integration, in turn, results in the generation of robot motion planning tailored to the specific characteristics of the current environment. Furthermore, to enhance the executability of task planning outputs from the large language model, a semantic alignment method is introduced. This method aligns task planning descriptions with the functional requirements of robot motion, thereby refining the overall compatibility and coherence of the generated instructions. To validate the efficacy of the proposed approach, an experimental platform is established utilizing an intelligent unmanned vehicle. This platform serves as a means to empirically verify the proficiency of the multi-layer large language model in addressing the intricate challenges associated with both robot task planning and execution.

Word2Vec: Optimal hyperparameters and their impact on natural language processing downstream tasks

Word2Vec is a prominent model for natural language processing tasks. Similar inspiration is found in distributed embeddings (word-vectors) in recent state-of-the-art deep neural networks. However, wrong combination of hyperparameters can produce embeddings with poor quality. The objective of this work is to empirically show that Word2Vec optimal combination of hyper-parameters exists and evaluate various combinations. We compare them with the publicly released, original Word2Vec embedding. Both intrinsic and extrinsic (downstream) evaluations are carried out, including named entity recognition and sentiment analysis. Our main contributions include showing that the best model is usually task-specific, high analogy scores do not necessarily correlate positively with F1 scores, and performance is not dependent on data size alone. If ethical considerations to save time, energy, and the environment are made, then relatively smaller corpora may do just as well or even better in some cases. Increasing the dimension size of embeddings after a point leads to poor quality or performance. In addition, using a relatively small corpus, we obtain better WordSim scores, corresponding Spearman correlation, and better downstream performances (with significance tests) compared to the original model, which is trained on a 100 billion-word corpus.

Detecting Weak Signals of the Future: A System Implementation Based on Text Mining and Natural Language Processing

Organizations, companies and start-ups need to cope with constant changes on the market which are difficult to predict. Therefore, the development of new systems to detect significant future changes is vital to make correct decisions in an organization and to discover new opportunities. A system based on business intelligence techniques is proposed to detect weak signals, that are related to future transcendental changes. While most known solutions are based on the use of structured data, the proposed system quantitatively detects these signals using heterogeneous and unstructured information from scientific, journalistic and social sources, applying text mining to analyze the documents and natural language processing to extract accurate results. The main contributions are that the system has been designed for any field, using different input datasets of documents, and with an automatic classification of categories for the detected keywords. In this research paper, results from the future of remote sensors are presented. Remote sensing services are providing new applications in observation and analysis of information remotely. This market is projected to witness a significant growth due to the increasing demand for services in commercial and defense industries. The system has obtained promising results, evaluated with two different methodologies, to help experts in the decision-making process and to discover new trends and opportunities.