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Convolutional sequence to sequence (CNN seq2seq) models have met success in abstractive summarization. However, their outputs often contain repetitive word sequences and logical inconsistencies, limiting the practicality of their application. In this paper, we find the reasons behind the repetition problem in CNN-based abstractive summarization through observing the attention map between the summaries with repetition and their corresponding source documents and mitigate the repetition problem. We propose to reduce the repetition in summaries by attention filter mechanism (ATTF) and sentence-level backtracking decoder (SBD), which dynamically redistributes attention over the input sequence as the output sentences are generated. The ATTF can record previously attended locations in the source document directly and prevent the decoder from attending to these locations. The SBD prevents the decoder from generating similar sentences more than once via backtracking at test. The proposed model outperforms the baselines in terms of ROUGE score, repeatedness, and readability. The results show that this approach generates high-quality summaries with minimal repetition and makes the reading experience better. [ABSTRACT FROM AUTHOR]

The majority of existing linear temporal logic (LTL) planning methods rely on the construction of a discrete product automaton, which combines a discrete abstraction of robot mobility and a Büchi automaton that captures the LTL specification. Representing this product automaton as a graph and using graph search techniques, optimal plans that satisfy the LTL task can be synthesized. However, constructing expressive discrete abstractions makes the synthesis problem computationally intractable. In this article, we propose a new sampling-based LTL planning algorithm that does not require any discrete abstraction of robot mobility. Instead, it incrementally builds trees that explore the product state-space, until a maximum number of iterations is reached or a feasible plan is found. The use of trees makes data storage and graph search tractable, which significantly increases the scalability of our algorithm. To accelerate the construction of feasible plans, we introduce bias in the sampling process, which is guided by transitions in the Büchi automaton that belong to the shortest path to the accepting states. We show that our planning algorithm, with and without bias, is probabilistically complete and asymptotically optimal. Finally, we present numerical experiments showing that our method outperforms relevant temporal logic planning methods. [ABSTRACT FROM AUTHOR]