Interactive Fiction (IF) games are complex textual decision making problems. This paper introduces NAIL, an autonomous agent for general parser-based IF games. NAIL won the 2018 Text Adventure AI Competition, where it was evaluated on twenty unseen games. This paper describes the architecture, development, and insights underpinning NAIL's performance. 3 * Equal contribution † Work done while author was at Microsoft Research.

Web search is seeing a paradigm shift from keyword based search to an entity-centric organization of web data. To support web search with this deeper level of understanding, a web-scale entity linking system must have 3 key properties: First, its feature extraction must be robust to the diversity of web documents and their varied writing styles and content structures. Second, it must maintain high-precision linking for "tail" (unpopular) entities that is robust to the existence of confounding entities outside of the knowledge base and entity profiles with minimal information. Finally, the system must represent large-scale knowledge bases with a scalable and powerful feature representation. We have built and deployed a web-scale unsupervised entity linking system for a commercial search engine that addresses these requirements by combining new developments in sparse signal recovery to identify the most discriminative features from noisy, free-text web documents; explicit modeling of out-of-knowledge-base entities to improve precision at the tail; and the development of a new phrase-unigram language model to efficiently capture high-order dependencies in lexical features. Using a knowledge base of 100M unique people from a popular social networking site, we present experimental results in the challenging domain of people-linking at the tail, where most entities have limited web presence. Our experimental results show that this system substantially improves on the precision-recall tradeoff over baseline methods, achieving precision over 95% with recall over 60%.

A rich representation is key to general robotic manipulation, but existing model architectures require a lot of data to learn it. Unfortunately, ideal robotic manipulation training data, which comes in the form of expert visuomotor demonstrations for a variety of annotated tasks, is scarce. In this work we propose PLEX, a transformer-based architecture that learns from task-agnostic visuomotor trajectories accompanied by a much larger amount of taskconditioned object manipulation videos -a type of robotics-relevant data available in quantity.The key insight behind PLEX is that the trajectories with observations and actions help induce a latent feature space and train a robot to execute task-agnostic manipulation routines, while a diverse set of video-only demonstrations can efficiently teach the robot how to plan in this feature space for a wide variety of tasks. In contrast to most works on robotic manipulation pretraining, PLEX learns a generalizable sensorimotor multi-task policy, not just an observational representation. We also show that using relative positional encoding in PLEX's transformers further increases its data efficiency when learning from human-collected demonstrations. Experiments showcase PLEX's generalization on Meta-World benchmark and establish state-of-the-art performance in challenging Robosuite environments.

Simulated humanoids are an appealing research domain due to their physical capabilities. Nonetheless, they are also challenging to control, as a policy must drive an unstable, discontinuous, and high-dimensional physical system. One widely studied approach is to utilize motion capture (MoCap) data to teach the humanoid agent low-level skills (e.g., standing, walking, and running) that can then be re-used to synthesize high-level behaviors. However, even with MoCap data, controlling simulated humanoids remains very hard, as MoCap data offers only kinematic information. Finding physical control inputs to realize the demonstrated motions requires computationally intensive methods like reinforcement learning. Thus, despite the publicly available MoCap data, its utility has been limited to institutions with large-scale compute. In this work, we dramatically lower the barrier for productive research on this topic by training and releasing high-quality agents that can track over three hours of MoCap data for a simulated humanoid in the dm_control physics-based environment. We release MoCapAct, a dataset of these expert agents and their rollouts, which contain proprioceptive observations and actions. We demonstrate the utility of MoCapAct by using it to train a single hierarchical policy capable of tracking the entire MoCap dataset within dm_control and show the learned low-level component can be re-used to efficiently learn downstream high-level tasks. Finally, we use MoCapAct to train an autoregressive GPT model and show that it can control a simulated humanoid to perform natural motion completion given a motion prompt. Videos of the results and links to the code and dataset are available at the project website.