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Chenguang Zhu

Chenguang Zhu contributes to research discovery and scholarly infrastructure.

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Published work

24 published item(s)

preprint2026arXiv

Semantic Voting: Execution-Grounded Consensus for LLM Code Generation

LLM code-generation pipelines often sample multiple candidates and select one final answer without access to a complete oracle. Existing pipelines mix textual voting, ranking, and execution-based agreement, but the relative contribution of each component remains unclear. We study 18 configurations across different models, thinking levels, and benchmarks, comparing output-pattern majority voting, weighted voting, MBR-Exec, and SemanticVote - a method that clusters candidates by execution fingerprints on LLM-generated inputs. Three findings emerge. (1) The best execution-based selector exceeds output-pattern majority voting by 19-52 percentage points on every configuration, with every execution-based selector exceeding it by at least 18 points. (2) Once candidates are executed on diverse inputs, aggregation rule has limited effect: SemanticVote, weighted voting, and MBR-Exec are statistically indistinguishable across all 18 configurations. The largest factor is input quality: sketch-based input generation consistently outperforms direct LLM generation by 0.6-2.1 pp and random fuzzing by up to 11.3 pp. (3) Thinking level interacts differently with selection families: deeper thinking improves majority voting by 12 pp but execution-based methods stay flat or degrade as candidate diversity falls. These results frame inference-time code selection as a signal-quality problem rather than an aggregation-rule problem: when oracles are unavailable, the behavioral evidence matters more than the aggregation rule.

preprint2026arXiv

Sketch-and-Verify: Structured Inference-Time Scaling via Program Sketching

SKETCHVERIFY is a within-tier cost-performance policy, not a universal accuracy improvement. The operational question: a practitioner stuck with a small, cheap code model (here, Gemini 3.1 Flash Lite) for latency, deployment, or budget reasons -- how should they spend a small amount of extra test-time compute? SKETCHVERIFY factorizes the search space: the LLM enumerates K distinct algorithmic strategies, writes a program sketch for each (a partial program with ?? holes), and fills each sketch M times, producing K x M structurally diverse candidates that are verified by execution and selected by fingerprint clustering. Each extra sketch is guaranteed to explore a different algorithm; each extra flat sample likely duplicates an existing one. Our central evidence is a cost-quality Pareto plot on HumanEval+ across three Gemini tiers (Lite, Flash, Pro), and a reanalysis of the 19 problems where Lite greedy fails. Two findings: (1) Within-tier, sketching dominates flat sampling at matched candidate count. On the hard subset, Lite Sketch K=2, M=5 recovers 11/19 (58%) vs. flat N=10 at 5/19 (26%, +32pp); Lite Sketch K=10, M=10 recovers 15/19 (79%) vs. flat N=100 at 10/19 (53%, +26pp). Flat cannot close the gap even at ~3x the budget: flat N=50 still loses to Sketch K=2, M=5 by +11pp. (2) Cross-tier, sketching does not replace upgrading. Pro greedy (89%) dominates Lite Sketch K=10, M=10 (79%) on both pass@1 and dollar cost. Practitioner rule: if a stronger tier is available, use greedy on it; otherwise sketching is the cost-effective way to spend extra compute. We characterize the K-vs-M trade-off via a Flash Lite scaling sweep, report HumanEval+ saturation on Flash and Pro, and show the method composes cleanly with execution-based selection from the concurrent Semantic Voting line of work.

preprint2022arXiv

A Survey of Knowledge-Enhanced Text Generation

The goal of text generation is to make machines express in human language. It is one of the most important yet challenging tasks in natural language processing (NLP). Since 2014, various neural encoder-decoder models pioneered by Seq2Seq have been proposed to achieve the goal by learning to map input text to output text. However, the input text alone often provides limited knowledge to generate the desired output, so the performance of text generation is still far from satisfaction in many real-world scenarios. To address this issue, researchers have considered incorporating various forms of knowledge beyond the input text into the generation models. This research direction is known as knowledge-enhanced text generation. In this survey, we present a comprehensive review of the research on knowledge enhanced text generation over the past five years. The main content includes two parts: (i) general methods and architectures for integrating knowledge into text generation; (ii) specific techniques and applications according to different forms of knowledge data. This survey can have broad audiences, researchers and practitioners, in academia and industry.

preprint2022arXiv

An Empirical Study of Training End-to-End Vision-and-Language Transformers

Vision-and-language (VL) pre-training has proven to be highly effective on various VL downstream tasks. While recent work has shown that fully transformer-based VL models can be more efficient than previous region-feature-based methods, their performance on downstream tasks often degrades significantly. In this paper, we present METER, a Multimodal End-to-end TransformER framework, through which we investigate how to design and pre-train a fully transformer-based VL model in an end-to-end manner. Specifically, we dissect the model designs along multiple dimensions: vision encoders (e.g., CLIP-ViT, Swin transformer), text encoders (e.g., RoBERTa, DeBERTa), multimodal fusion module (e.g., merged attention vs. co-attention), architectural design (e.g., encoder-only vs. encoder-decoder), and pre-training objectives (e.g., masked image modeling). We conduct comprehensive experiments and provide insights on how to train a performant VL transformer. METER achieves an accuracy of 77.64% on the VQAv2 test-std set using only 4M images for pre-training, surpassing the state-of-the-art region-feature-based model by 1.04%, and outperforming the previous best fully transformer-based model by 1.6%. Notably, when further scaled up, our best VQA model achieves an accuracy of 80.54%. Code and pre-trained models are released at https://github.com/zdou0830/METER.

preprint2022arXiv

CLIP-Event: Connecting Text and Images with Event Structures

Vision-language (V+L) pretraining models have achieved great success in supporting multimedia applications by understanding the alignments between images and text. While existing vision-language pretraining models primarily focus on understanding objects in images or entities in text, they often ignore the alignment at the level of events and their argument structures. In this work, we propose a contrastive learning framework to enforce vision-language pretraining models to comprehend events and associated argument (participant) roles. To achieve this, we take advantage of text information extraction technologies to obtain event structural knowledge, and utilize multiple prompt functions to contrast difficult negative descriptions by manipulating event structures. We also design an event graph alignment loss based on optimal transport to capture event argument structures. In addition, we collect a large event-rich dataset (106,875 images) for pretraining, which provides a more challenging image retrieval benchmark to assess the understanding of complicated lengthy sentences. Experiments show that our zero-shot CLIP-Event outperforms the state-of-the-art supervised model in argument extraction on Multimedia Event Extraction, achieving more than 5% absolute F-score gain in event extraction, as well as significant improvements on a variety of downstream tasks under zero-shot settings.

preprint2022arXiv

DialogLM: Pre-trained Model for Long Dialogue Understanding and Summarization

Dialogue is an essential part of human communication and cooperation. Existing research mainly focuses on short dialogue scenarios in a one-on-one fashion. However, multi-person interactions in the real world, such as meetings or interviews, are frequently over a few thousand words. There is still a lack of corresponding research and powerful tools to understand and process such long dialogues. Therefore, in this work, we present a pre-training framework for long dialogue understanding and summarization. Considering the nature of long conversations, we propose a window-based denoising approach for generative pre-training. For a dialogue, it corrupts a window of text with dialogue-inspired noise, and guides the model to reconstruct this window based on the content of the remaining conversation. Furthermore, to process longer input, we augment the model with sparse attention which is combined with conventional attention in a hybrid manner. We conduct extensive experiments on five datasets of long dialogues, covering tasks of dialogue summarization, abstractive question answering and topic segmentation. Experimentally, we show that our pre-trained model DialogLM significantly surpasses the state-of-the-art models across datasets and tasks. Source code and all the pre-trained models are available on our GitHub repository (https://github.com/microsoft/DialogLM).

preprint2022arXiv

Dict-BERT: Enhancing Language Model Pre-training with Dictionary

Pre-trained language models (PLMs) aim to learn universal language representations by conducting self-supervised training tasks on large-scale corpora. Since PLMs capture word semantics in different contexts, the quality of word representations highly depends on word frequency, which usually follows a heavy-tailed distributions in the pre-training corpus. Therefore, the embeddings of rare words on the tail are usually poorly optimized. In this work, we focus on enhancing language model pre-training by leveraging definitions of the rare words in dictionaries (e.g., Wiktionary). To incorporate a rare word definition as a part of input, we fetch its definition from the dictionary and append it to the end of the input text sequence. In addition to training with the masked language modeling objective, we propose two novel self-supervised pre-training tasks on word and sentence-level alignment between input text sequence and rare word definitions to enhance language modeling representation with dictionary. We evaluate the proposed Dict-BERT model on the language understanding benchmark GLUE and eight specialized domain benchmark datasets. Extensive experiments demonstrate that Dict-BERT can significantly improve the understanding of rare words and boost model performance on various NLP downstream tasks.

preprint2022arXiv

Diversifying Content Generation for Commonsense Reasoning with Mixture of Knowledge Graph Experts

Generative commonsense reasoning (GCR) in natural language is to reason about the commonsense while generating coherent text. Recent years have seen a surge of interest in improving the generation quality of commonsense reasoning tasks. Nevertheless, these approaches have seldom investigated diversity in the GCR tasks, which aims to generate alternative explanations for a real-world situation or predict all possible outcomes. Diversifying GCR is challenging as it expects to generate multiple outputs that are not only semantically different but also grounded in commonsense knowledge. In this paper, we propose MoKGE, a novel method that diversifies the generative reasoning by a mixture of expert (MoE) strategy on commonsense knowledge graphs (KG). A set of knowledge experts seek diverse reasoning on KG to encourage various generation outputs. Empirical experiments demonstrated that MoKGE can significantly improve the diversity while achieving on par performance on accuracy on two GCR benchmarks, based on both automatic and human evaluations.

preprint2022arXiv

DYLE: Dynamic Latent Extraction for Abstractive Long-Input Summarization

Transformer-based models have achieved state-of-the-art performance on short-input summarization. However, they still struggle with summarizing longer text. In this paper, we present DYLE, a novel dynamic latent extraction approach for abstractive long-input summarization. DYLE jointly trains an extractor and a generator and treats the extracted text snippets as the latent variable, allowing dynamic snippet-level attention weights during decoding. To provide adequate supervision, we propose simple yet effective heuristics for oracle extraction as well as a consistency loss term, which encourages the extractor to approximate the averaged dynamic weights predicted by the generator. We evaluate our method on different long-document and long-dialogue summarization tasks: GovReport, QMSum, and arXiv. Experiment results show that DYLE outperforms all existing methods on GovReport and QMSum, with gains up to 6.1 ROUGE, while yielding strong results on arXiv. Further analysis shows that the proposed dynamic weights provide interpretability of our generation process.

preprint2022arXiv

Human Parity on CommonsenseQA: Augmenting Self-Attention with External Attention

Most of today's AI systems focus on using self-attention mechanisms and transformer architectures on large amounts of diverse data to achieve impressive performance gains. In this paper, we propose to augment the transformer architecture with an external attention mechanism to bring external knowledge and context to bear. By integrating external information into the prediction process, we hope to reduce the need for ever-larger models and increase the democratization of AI systems. We find that the proposed external attention mechanism can significantly improve the performance of existing AI systems, allowing practitioners to easily customize foundation AI models to many diverse downstream applications. In particular, we focus on the task of Commonsense Reasoning, demonstrating that the proposed external attention mechanism can augment existing transformer models and significantly improve the model's reasoning capabilities. The proposed system, Knowledgeable External Attention for commonsense Reasoning (KEAR), reaches human parity on the open CommonsenseQA research benchmark with an accuracy of 89.4\% in comparison to the human accuracy of 88.9\%.

preprint2022arXiv

i-Code: An Integrative and Composable Multimodal Learning Framework

Human intelligence is multimodal; we integrate visual, linguistic, and acoustic signals to maintain a holistic worldview. Most current pretraining methods, however, are limited to one or two modalities. We present i-Code, a self-supervised pretraining framework where users may flexibly combine the modalities of vision, speech, and language into unified and general-purpose vector representations. In this framework, data from each modality are first given to pretrained single-modality encoders. The encoder outputs are then integrated with a multimodal fusion network, which uses novel attention mechanisms and other architectural innovations to effectively combine information from the different modalities. The entire system is pretrained end-to-end with new objectives including masked modality unit modeling and cross-modality contrastive learning. Unlike previous research using only video for pretraining, the i-Code framework can dynamically process single, dual, and triple-modality data during training and inference, flexibly projecting different combinations of modalities into a single representation space. Experimental results demonstrate how i-Code can outperform state-of-the-art techniques on five video understanding tasks and the GLUE NLP benchmark, improving by as much as 11% and demonstrating the power of integrative multimodal pretraining.

preprint2022arXiv

Impossible Triangle: What's Next for Pre-trained Language Models?

Recent development of large-scale pre-trained language models (PLM) have significantly improved the capability of models in various NLP tasks, in terms of performance after task-specific fine-tuning and zero-shot / few-shot learning. However, many of such models come with a dauntingly huge size that few institutions can afford to pre-train, fine-tune or even deploy, while moderate-sized models usually lack strong generalized few-shot learning capabilities. In this paper, we first elaborate the current obstacles of using PLM models in terms of the Impossible Triangle: 1) moderate model size, 2) state-of-the-art few-shot learning capability, and 3) state-of-the-art fine-tuning capability. We argue that all existing PLM models lack one or more properties from the Impossible Triangle. To remedy these missing properties of PLMs, various techniques have been proposed, such as knowledge distillation, data augmentation and prompt learning, which inevitably brings additional work to the application of PLMs in real scenarios. We then offer insights into future research directions of PLMs to achieve the Impossible Triangle, and break down the task into several key phases.

preprint2022arXiv

KG-FiD: Infusing Knowledge Graph in Fusion-in-Decoder for Open-Domain Question Answering

Current Open-Domain Question Answering (ODQA) model paradigm often contains a retrieving module and a reading module. Given an input question, the reading module predicts the answer from the relevant passages which are retrieved by the retriever. The recent proposed Fusion-in-Decoder (FiD), which is built on top of the pretrained generative model T5, achieves the state-of-the-art performance in the reading module. Although being effective, it remains constrained by inefficient attention on all retrieved passages which contain a lot of noise. In this work, we propose a novel method KG-FiD, which filters noisy passages by leveraging the structural relationship among the retrieved passages with a knowledge graph. We initiate the passage node embedding from the FiD encoder and then use graph neural network (GNN) to update the representation for reranking. To improve the efficiency, we build the GNN on top of the intermediate layer output of the FiD encoder and only pass a few top reranked passages into the higher layers of encoder and decoder for answer generation. We also apply the proposed GNN based reranking method to enhance the passage retrieval results in the retrieving module. Extensive experiments on common ODQA benchmark datasets (Natural Question and TriviaQA) demonstrate that KG-FiD can improve vanilla FiD by up to 1.5% on answer exact match score and achieve comparable performance with FiD with only 40% of computation cost.

preprint2022arXiv

Leveraging Visual Knowledge in Language Tasks: An Empirical Study on Intermediate Pre-training for Cross-modal Knowledge Transfer

Pre-trained language models are still far from human performance in tasks that need understanding of properties (e.g. appearance, measurable quantity) and affordances of everyday objects in the real world since the text lacks such information due to reporting bias. In this work, we study whether integrating visual knowledge into a language model can fill the gap. We investigate two types of knowledge transfer: (1) text knowledge transfer using image captions that may contain enriched visual knowledge and (2) cross-modal knowledge transfer using both images and captions with vision-language training objectives. On 5 downstream tasks that may need visual knowledge to solve the problem, we perform extensive empirical comparisons over the presented objectives. Our experiments show that visual knowledge transfer can improve performance in both low-resource and fully supervised settings.

preprint2022arXiv

SapientML: Synthesizing Machine Learning Pipelines by Learning from Human-Written Solutions

Automatic machine learning, or AutoML, holds the promise of truly democratizing the use of machine learning (ML), by substantially automating the work of data scientists. However, the huge combinatorial search space of candidate pipelines means that current AutoML techniques, generate sub-optimal pipelines, or none at all, especially on large, complex datasets. In this work we propose an AutoML technique SapientML, that can learn from a corpus of existing datasets and their human-written pipelines, and efficiently generate a high-quality pipeline for a predictive task on a new dataset. To combat the search space explosion of AutoML, SapientML employs a novel divide-and-conquer strategy realized as a three-stage program synthesis approach, that reasons on successively smaller search spaces. The first stage uses a machine-learned model to predict a set of plausible ML components to constitute a pipeline. In the second stage, this is then refined into a small pool of viable concrete pipelines using syntactic constraints derived from the corpus and the machine-learned model. Dynamically evaluating these few pipelines, in the third stage, provides the best solution. We instantiate SapientML as part of a fully automated tool-chain that creates a cleaned, labeled learning corpus by mining Kaggle, learns from it, and uses the learned models to then synthesize pipelines for new predictive tasks. We have created a training corpus of 1094 pipelines spanning 170 datasets, and evaluated SapientML on a set of 41 benchmark datasets, including 10 new, large, real-world datasets from Kaggle, and against 3 state-of-the-art AutoML tools and 2 baselines. Our evaluation shows that SapientML produces the best or comparable accuracy on 27 of the benchmarks while the second best tool fails to even produce a pipeline on 9 of the instances.

preprint2022arXiv

Summ^N: A Multi-Stage Summarization Framework for Long Input Dialogues and Documents

Text summarization helps readers capture salient information from documents, news, interviews, and meetings. However, most state-of-the-art pretrained language models (LM) are unable to efficiently process long text for many summarization tasks. In this paper, we propose Summ$^N$, a simple, flexible, and effective multi-stage framework for input texts that are longer than the maximum context length of typical pretrained LMs. Summ$^N$ first splits the data samples and generates a coarse summary in multiple stages and then produces the final fine-grained summary based on it. Our framework can process input text of arbitrary length by adjusting the number of stages while keeping the LM input size fixed. Moreover, it can deal with both single-source documents and dialogues, and it can be used on top of different backbone abstractive summarization models. To the best of our knowledge, Summ$^N$ is the first multi-stage split-then-summarize framework for long input summarization. Our experiments demonstrate that Summ$^N$ outperforms previous state-of-the-art methods by improving ROUGE scores on three long meeting summarization datasets AMI, ICSI, and QMSum, two long TV series datasets from SummScreen, and a long document summarization dataset GovReport. Our data and code are available at https://github.com/psunlpgroup/Summ-N.

preprint2022arXiv

Training Data is More Valuable than You Think: A Simple and Effective Method by Retrieving from Training Data

Retrieval-based methods have been shown to be effective in NLP tasks via introducing external knowledge. However, the indexing and retrieving of large-scale corpora bring considerable computational cost. Surprisingly, we found that REtrieving from the traINing datA (REINA) only can lead to significant gains on multiple NLG and NLU tasks. We retrieve the labeled training instances most similar to the input text and then concatenate them with the input to feed into the model to generate the output. Experimental results show that this simple method can achieve significantly better performance on a variety of NLU and NLG tasks, including summarization, machine translation, language modeling, and question answering tasks. For instance, our proposed method achieved state-of-the-art results on XSum, BigPatent, and CommonsenseQA. Our code is released, https://github.com/microsoft/REINA .

preprint2020arXiv

A Hierarchical Network for Abstractive Meeting Summarization with Cross-Domain Pretraining

With the abundance of automatic meeting transcripts, meeting summarization is of great interest to both participants and other parties. Traditional methods of summarizing meetings depend on complex multi-step pipelines that make joint optimization intractable. Meanwhile, there are a handful of deep neural models for text summarization and dialogue systems. However, the semantic structure and styles of meeting transcripts are quite different from articles and conversations. In this paper, we propose a novel abstractive summary network that adapts to the meeting scenario. We design a hierarchical structure to accommodate long meeting transcripts and a role vector to depict the difference among speakers. Furthermore, due to the inadequacy of meeting summary data, we pretrain the model on large-scale news summary data. Empirical results show that our model outperforms previous approaches in both automatic metrics and human evaluation. For example, on ICSI dataset, the ROUGE-1 score increases from 34.66% to 46.28%.

preprint2020arXiv

Boosting Naturalness of Language in Task-oriented Dialogues via Adversarial Training

The natural language generation (NLG) module in a task-oriented dialogue system produces user-facing utterances conveying required information. Thus, it is critical for the generated response to be natural and fluent. We propose to integrate adversarial training to produce more human-like responses. The model uses Straight-Through Gumbel-Softmax estimator for gradient computation. We also propose a two-stage training scheme to boost performance. Empirical results show that the adversarial training can effectively improve the quality of language generation in both automatic and human evaluations. For example, in the RNN-LG Restaurant dataset, our model AdvNLG outperforms the previous state-of-the-art result by 3.6% in BLEU.

preprint2020arXiv

Few-shot Natural Language Generation for Task-Oriented Dialog

As a crucial component in task-oriented dialog systems, the Natural Language Generation (NLG) module converts a dialog act represented in a semantic form into a response in natural language. The success of traditional template-based or statistical models typically relies on heavily annotated data, which is infeasible for new domains. Therefore, it is pivotal for an NLG system to generalize well with limited labelled data in real applications. To this end, we present FewShotWoz, the first NLG benchmark to simulate the few-shot learning setting in task-oriented dialog systems. Further, we develop the SC-GPT model. It is pre-trained on a large set of annotated NLG corpus to acquire the controllable generation ability, and fine-tuned with only a few domain-specific labels to adapt to new domains. Experiments on FewShotWoz and the large Multi-Domain-WOZ datasets show that the proposed SC-GPT significantly outperforms existing methods, measured by various automatic metrics and human evaluations.

preprint2020arXiv

Meta Dialogue Policy Learning

Dialog policy determines the next-step actions for agents and hence is central to a dialogue system. However, when migrated to novel domains with little data, a policy model can fail to adapt due to insufficient interactions with the new environment. We propose Deep Transferable Q-Network (DTQN) to utilize shareable low-level signals between domains, such as dialogue acts and slots. We decompose the state and action representation space into feature subspaces corresponding to these low-level components to facilitate cross-domain knowledge transfer. Furthermore, we embed DTQN in a meta-learning framework and introduce Meta-DTQN with a dual-replay mechanism to enable effective off-policy training and adaptation. In experiments, our model outperforms baseline models in terms of both success rate and dialogue efficiency on the multi-domain dialogue dataset MultiWOZ 2.0.

preprint2020arXiv

Mind The Facts: Knowledge-Boosted Coherent Abstractive Text Summarization

Neural models have become successful at producing abstractive summaries that are human-readable and fluent. However, these models have two critical shortcomings: they often don't respect the facts that are either included in the source article or are known to humans as commonsense knowledge, and they don't produce coherent summaries when the source article is long. In this work, we propose a novel architecture that extends Transformer encoder-decoder architecture in order to improve on these shortcomings. First, we incorporate entity-level knowledge from the Wikidata knowledge graph into the encoder-decoder architecture. Injecting structural world knowledge from Wikidata helps our abstractive summarization model to be more fact-aware. Second, we utilize the ideas used in Transformer-XL language model in our proposed encoder-decoder architecture. This helps our model with producing coherent summaries even when the source article is long. We test our model on CNN/Daily Mail summarization dataset and show improvements on ROUGE scores over the baseline Transformer model. We also include model predictions for which our model accurately conveys the facts, while the baseline Transformer model doesn't.

preprint2020arXiv

Out-of-Vocabulary Embedding Imputation with Grounded Language Information by Graph Convolutional Networks

Due to the ubiquitous use of embeddings as input representations for a wide range of natural language tasks, imputation of embeddings for rare and unseen words is a critical problem in language processing. Embedding imputation involves learning representations for rare or unseen words during the training of an embedding model, often in a post-hoc manner. In this paper, we propose an approach for embedding imputation which uses grounded information in the form of a knowledge graph. This is in contrast to existing approaches which typically make use of vector space properties or subword information. We propose an online method to construct a graph from grounded information and design an algorithm to map from the resulting graphical structure to the space of the pre-trained embeddings. Finally, we evaluate our approach on a range of rare and unseen word tasks across various domains and show that our model can learn better representations. For example, on the Card-660 task our method improves Pearson's and Spearman's correlation coefficients upon the state-of-the-art by 11% and 17.8% respectively using GloVe embeddings.

preprint2020arXiv

RADDLE: An Evaluation Benchmark and Analysis Platform for Robust Task-oriented Dialog Systems

For task-oriented dialog systems to be maximally useful, it must be able to process conversations in a way that is (1) generalizable with a small number of training examples for new task domains, and (2) robust to user input in various styles, modalities or domains. In pursuit of these goals, we introduce the RADDLE benchmark, a collection of corpora and tools for evaluating the performance of models across a diverse set of domains. By including tasks with limited training data, RADDLE is designed to favor and encourage models with a strong generalization ability. RADDLE also includes a diagnostic checklist that facilitates detailed robustness analysis in aspects such as language variations, speech errors, unseen entities, and out-of-domain utterances. We evaluate recent state-of-the-art systems based on pre-training and fine-tuning, and find that grounded pre-training on heterogeneous dialog corpora performs better than training a separate model per domain. Overall, existing models are less than satisfactory in robustness evaluation, which suggests opportunities for future improvement.