There has been significant progress in recent years in the field of Natural Language Processing thanks to the introduction of the Transformer architecture. Current state-of-the-art models, via a large number of parameters and pre-training on massive text corpus, have shown impressive results on several downstream tasks. Many researchers have studied previous (non-Transformer) models to understand their actual behavior under different scenarios, showing that these models are taking advantage of clues or failures of datasets and that slight perturbations on the input data can severely reduce their performance. In contrast, recent models have not been systematically tested with adversarial-examples in order to show their robustness under severe stress conditions. For that reason, this work evaluates three Transformer-based models (RoBERTa, XLNet, and BERT) in Natural Language Inference (NLI) and Question Answering (QA) tasks to know if they are more robust or if they have the same flaws as their predecessors. As a result, our experiments reveal that RoBERTa, XLNet and BERT are more robust than recurrent neural network models to stress tests for both NLI and QA tasks. Nevertheless, they are still very fragile and demonstrate various unexpected behaviors, thus revealing that there is still room for future improvement in this field.

We propose a multi-head attention mechanism as a blending layer in a neural network model that translates natural language to a high level behavioral language for indoor robot navigation. We follow the framework established by (Zang et al., 2018a) that proposes the use of a navigation graph as a knowledge base for the task. Our results show significant performance gains when translating instructions on previously unseen environments, therefore, improving the generalization capabilities of the model.