Facebook

About: Facebook is a company organization based out in Tel Aviv, Israel. It is known for research contribution in the topics: Artificial neural network & Language model. The organization has 7856 authors who have published 10906 publications receiving 570123 citations. The organization is also known as: facebook.com & FB.

Self-Supervised Exploration via Disagreement

Abstract: Efficient exploration is a long-standing problem in sensorimotor learning. Major advances have been demonstrated in noise-free, non-stochastic domains such as video games and simulation. However, most of these formulations either get stuck in environments with stochastic dynamics or are too inefficient to be scalable to real robotics setups. In this paper, we propose a formulation for exploration inspired by the work in active learning literature. Specifically, we train an ensemble of dynamics models and incentivize the agent to explore such that the disagreement of those ensembles is maximized. This allows the agent to learn skills by exploring in a self-supervised manner without any external reward. Notably, we further leverage the disagreement objective to optimize the agent's policy in a differentiable manner, without using reinforcement learning, which results in a sample-efficient exploration. We demonstrate the efficacy of this formulation across a variety of benchmark environments including stochastic-Atari, Mujoco and Unity. Finally, we implement our differentiable exploration on a real robot which learns to interact with objects completely from scratch. Project videos and code are at this https URL

DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation

Abstract: Computer graphics, 3D computer vision and robotics communities have produced multiple approaches to representing 3D geometry for rendering and reconstruction. These provide trade-offs across fidelity, efficiency and compression capabilities. In this work, we introduce DeepSDF, a learned continuous Signed Distance Function (SDF) representation of a class of shapes that enables high quality shape representation, interpolation and completion from partial and noisy 3D input data. DeepSDF, like its classical counterpart, represents a shape's surface by a continuous volumetric field: the magnitude of a point in the field represents the distance to the surface boundary and the sign indicates whether the region is inside (-) or outside (+) of the shape, hence our representation implicitly encodes a shape's boundary as the zero-level-set of the learned function while explicitly representing the classification of space as being part of the shapes interior or not. While classical SDF's both in analytical or discretized voxel form typically represent the surface of a single shape, DeepSDF can represent an entire class of shapes. Furthermore, we show state-of-the-art performance for learned 3D shape representation and completion while reducing the model size by an order of magnitude compared with previous work.

fairseq S2T: Fast Speech-to-Text Modeling with fairseq

Abstract: We introduce fairseq S2T, a fairseq extension for speech-to-text (S2T) modeling tasks such as end-to-end speech recognition and speech-to-text translation. It follows fairseq's careful design for scalability and extensibility. We provide end-to-end workflows from data pre-processing, model training to offline (online) inference. We implement state-of-the-art RNN-based as well as Transformer-based models and open-source detailed training recipes. Fairseq's machine translation models and language models can be seamlessly integrated into S2T workflows for multi-task learning or transfer learning. Fairseq S2T documentation and examples are available at this https URL.

Moving Down the Long Tail of Word Sense Disambiguation with Gloss Informed Bi-encoders

Abstract: A major obstacle in Word Sense Disambiguation (WSD) is that word senses are not uniformly distributed, causing existing models to generally perform poorly on senses that are either rare or unseen during training. We propose a bi-encoder model that independently embeds (1) the target word with its surrounding context and (2) the dictionary definition, or gloss, of each sense. The encoders are jointly optimized in the same representation space, so that sense disambiguation can be performed by finding the nearest sense embedding for each target word embedding. Our system outperforms previous state-of-the-art models on English all-words WSD; these gains predominantly come from improved performance on rare senses, leading to a 31.1% error reduction on less frequent senses over prior work. This demonstrates that rare senses can be more effectively disambiguated by modeling their definitions.

Location aware shared spaces

Abstract: In one embodiment, a geo-social networking system maintains a data store of shared space, wherein each shared space comprises one or more content objects, a location, and one or more privacy settings. The geo-social networking system allows a user read-access to a shared space based on privacy settings associated with the shared space. The geo-social networking system allows a user write-access to a shared space if the user is at the location associated with the shared space.