Daily Papers

In automated planning, recognising the goal of an agent from a trace of observations is an important task with many applications. The state-of-the-art approaches to goal recognition rely on the application of planning techniques, which requires a model of the domain actions and of the initial domain state (written, e.g., in PDDL). We study an alternative approach where goal recognition is formulated as a classification task addressed by machine learning. Our approach, called GRNet, is primarily aimed at making goal recognition more accurate as well as faster by learning how to solve it in a given domain. Given a planning domain specified by a set of propositions and a set of action names, the goal classification instances in the domain are solved by a Recurrent Neural Network (RNN). A run of the RNN processes a trace of observed actions to compute how likely it is that each domain proposition is part of the agent's goal, for the problem instance under considerations. These predictions are then aggregated to choose one of the candidate goals. The only information required as input of the trained RNN is a trace of action labels, each one indicating just the name of an observed action. An experimental analysis confirms that \our achieves good performance in terms of both goal classification accuracy and runtime, obtaining better performance w.r.t. a state-of-the-art goal recognition system over the considered benchmarks.

Goal recognition (GR) involves inferring the goals of other vehicles, such as a certain junction exit, which can enable more accurate prediction of their future behaviour. In autonomous driving, vehicles can encounter many different scenarios and the environment may be partially observable due to occlusions. We present a novel GR method named Goal Recognition with Interpretable Trees under Occlusion (OGRIT). OGRIT uses decision trees learned from vehicle trajectory data to infer the probabilities of a set of generated goals. We demonstrate that OGRIT can handle missing data due to occlusions and make inferences across multiple scenarios using the same learned decision trees, while being computationally fast, accurate, interpretable and verifiable. We also release the inDO, rounDO and OpenDDO datasets of occluded regions used to evaluate OGRIT.

A transhumeral prosthesis restores missing anatomical segments below the shoulder, including the hand. Active prostheses utilize real-valued, continuous sensor data to recognize patient target poses, or goals, and proactively move the artificial limb. Previous studies have examined how well the data collected in stationary poses, without considering the time steps, can help discriminate the goals. In this case study paper, we focus on using time series data from surface electromyography electrodes and kinematic sensors to sequentially recognize patients' goals. Our approach involves transforming the data into discrete events and training an existing process mining-based goal recognition system. Results from data collected in a virtual reality setting with ten subjects demonstrate the effectiveness of our proposed goal recognition approach, which achieves significantly better precision and recall than the state-of-the-art machine learning techniques and is less confident when wrong, which is beneficial when approximating smoother movements of prostheses.

The ability to observe the effects of actions performed by others and to infer their intent, most likely goals, or course of action, is known as a plan or intention recognition cognitive capability and has long been one of the fundamental research challenges in AI. Deep learning has recently been making significant inroads on various pattern recognition problems, except for intention recognition. While extensively explored since the seventies, the problem remains unsolved for most interesting cases in various areas, ranging from natural language understanding to human behavior understanding based on video feeds. This paper compares symbolic inverse planning, one of the most investigated approaches to goal recognition, to deep learning using CNN and LTSM neural network architectures, on five synthetic benchmarks often used in the literature. The results show that the deep learning approach achieves better goal-prediction accuracy and timeliness than the symbolic cost-based plan recognizer in these domains. Although preliminary, these results point to interesting future research avenues.

The ability to infer the intentions of others, predict their goals, and deduce their plans are critical features for intelligent agents. For a long time, several approaches investigated the use of symbolic representations and inferences with limited success, principally because it is difficult to capture the cognitive knowledge behind human decisions explicitly. The trend, nowadays, is increasingly focusing on learning to infer intentions directly from data, using deep learning in particular. We are now observing interesting applications of intent classification in natural language processing, visual activity recognition, and emerging approaches in other domains. This paper discusses a novel approach combining few-shot and transfer learning with cross-domain features, to learn to infer the intent of an agent navigating in physical environments, executing arbitrary long sequences of actions to achieve their goals. Experiments in synthetic environments demonstrate improved performance in terms of learning from few samples and generalizing to unseen configurations, compared to a deep-learning baseline approach.

Computer-based assistants have recently attracted much interest due to its applicability to ambient assisted living. Such assistants have to detect and recognize the high-level activities and goals performed by the assisted human beings. In this work, we demonstrate activity recognition in an indoor environment in order to identify the goal towards which the subject of the video is pursuing. Our hybrid approach combines an action recognition module and a goal recognition algorithm to identify the ultimate goal of the subject in the video.

The goal of face recognition (FR) can be viewed as a pair similarity optimization problem, maximizing a similarity set S^p over positive pairs, while minimizing similarity set S^n over negative pairs. Ideally, it is expected that FR models form a well-discriminative feature space (WDFS) that satisfies mathcal{S^p} > mathcal{S^n}. With regard to WDFS, the existing deep feature learning paradigms (i.e., metric and classification losses) can be expressed as a unified perspective on different pair generation (PG) strategies. Unfortunately, in the metric loss (ML), it is infeasible to generate negative pairs taking all classes into account in each iteration because of the limited mini-batch size. In contrast, in classification loss (CL), it is difficult to generate extremely hard negative pairs owing to the convergence of the class weight vectors to their center. This leads to a mismatch between the two similarity distributions of the sampled pairs and all negative pairs. Thus, this paper proposes a unified negative pair generation (UNPG) by combining two PG strategies (i.e., MLPG and CLPG) from a unified perspective to alleviate the mismatch. UNPG introduces useful information about negative pairs using MLPG to overcome the CLPG deficiency. Moreover, it includes filtering the similarities of noisy negative pairs to guarantee reliable convergence and improved performance. Exhaustive experiments show the superiority of UNPG by achieving state-of-the-art performance across recent loss functions on public benchmark datasets. Our code and pretrained models are publicly available.

We address the challenge of getting efficient yet accurate recognition systems with limited labels. While recognition models improve with model size and amount of data, many specialized applications of computer vision have severe resource constraints both during training and inference. Transfer learning is an effective solution for training with few labels, however often at the expense of a computationally costly fine-tuning of large base models. We propose to mitigate this unpleasant trade-off between compute and accuracy via semi-supervised cross-domain distillation from a set of diverse source models. Initially, we show how to use task similarity metrics to select a single suitable source model to distill from, and that a good selection process is imperative for good downstream performance of a target model. We dub this approach DistillNearest. Though effective, DistillNearest assumes a single source model matches the target task, which is not always the case. To alleviate this, we propose a weighted multi-source distillation method to distill multiple source models trained on different domains weighted by their relevance for the target task into a single efficient model (named DistillWeighted). Our methods need no access to source data, and merely need features and pseudo-labels of the source models. When the goal is accurate recognition under computational constraints, both DistillNearest and DistillWeighted approaches outperform both transfer learning from strong ImageNet initializations as well as state-of-the-art semi-supervised techniques such as FixMatch. Averaged over 8 diverse target tasks our multi-source method outperforms the baselines by 5.6%-points and 4.5%-points, respectively.

A central goal of visual recognition is to understand objects and scenes from a single image. 2D recognition has witnessed tremendous progress thanks to large-scale learning and general-purpose representations. Comparatively, 3D poses new challenges stemming from occlusions not depicted in the image. Prior works try to overcome these by inferring from multiple views or rely on scarce CAD models and category-specific priors which hinder scaling to novel settings. In this work, we explore single-view 3D reconstruction by learning generalizable representations inspired by advances in self-supervised learning. We introduce a simple framework that operates on 3D points of single objects or whole scenes coupled with category-agnostic large-scale training from diverse RGB-D videos. Our model, Multiview Compressive Coding (MCC), learns to compress the input appearance and geometry to predict the 3D structure by querying a 3D-aware decoder. MCC's generality and efficiency allow it to learn from large-scale and diverse data sources with strong generalization to novel objects imagined by DALLcdotE 2 or captured in-the-wild with an iPhone.

Although contrastive learning methods have shown prevailing performance on a variety of representation learning tasks, they encounter difficulty when the training dataset is long-tailed. Many researchers have combined contrastive learning and a logit adjustment technique to address this problem, but the combinations are done ad-hoc and a theoretical background has not yet been provided. The goal of this paper is to provide the background and further improve the performance. First, we show that the fundamental reason contrastive learning methods struggle with long-tailed tasks is that they try to maximize the mutual information maximization between latent features and input data. As ground-truth labels are not considered in the maximization, they are not able to address imbalances between class labels. Rather, we interpret the long-tailed recognition task as a mutual information maximization between latent features and ground-truth labels. This approach integrates contrastive learning and logit adjustment seamlessly to derive a loss function that shows state-of-the-art performance on long-tailed recognition benchmarks. It also demonstrates its efficacy in image segmentation tasks, verifying its versatility beyond image classification.

Medical dictation systems are essential tools in modern healthcare, enabling accurate and efficient conversion of speech into written medical documentation. The main objective of this paper is to create a domain-specific system for Greek medical speech transcriptions. The ultimate goal is to assist healthcare professionals by reducing the overload of manual documentation and improving workflow efficiency. Towards this goal, we develop a system that combines automatic speech recognition techniques with text correction model, allowing better handling of domain-specific terminology and linguistic variations in Greek. Our approach leverages both acoustic and textual modeling to create more realistic and reliable transcriptions. We focused on adapting existing language and speech technologies to the Greek medical context, addressing challenges such as complex medical terminology and linguistic inconsistencies. Through domain-specific fine-tuning, our system achieves more accurate and coherent transcriptions, contributing to the development of practical language technologies for the Greek healthcare sector.

The focal point of egocentric video understanding is modelling hand-object interactions. Standard models, e.g. CNNs or Vision Transformers, which receive RGB frames as input perform well. However, their performance improves further by employing additional input modalities that provide complementary cues, such as object detections, optical flow, audio, etc. The added complexity of the modality-specific modules, on the other hand, makes these models impractical for deployment. The goal of this work is to retain the performance of such a multimodal approach, while using only the RGB frames as input at inference time. We demonstrate that for egocentric action recognition on the Epic-Kitchens and the Something-Something datasets, students which are taught by multimodal teachers tend to be more accurate and better calibrated than architecturally equivalent models trained on ground truth labels in a unimodal or multimodal fashion. We further adopt a principled multimodal knowledge distillation framework, allowing us to deal with issues which occur when applying multimodal knowledge distillation in a naive manner. Lastly, we demonstrate the achieved reduction in computational complexity, and show that our approach maintains higher performance with the reduction of the number of input views. We release our code at https://github.com/gorjanradevski/multimodal-distillation.

This article motivates, describes, and presents the PBSCR dataset for studying composer recognition of classical piano music. Our goal was to design a dataset that facilitates large-scale research on composer recognition that is suitable for modern architectures and training practices. To achieve this goal, we utilize the abundance of sheet music images and rich metadata on IMSLP, use a previously proposed feature representation called a bootleg score to encode the location of noteheads relative to staff lines, and present the data in an extremely simple format (2D binary images) to encourage rapid exploration and iteration. The dataset itself contains 40,000 62x64 bootleg score images for a 9-class recognition task, 100,000 62x64 bootleg score images for a 100-class recognition task, and 29,310 unlabeled variable-length bootleg score images for pretraining. The labeled data is presented in a form that mirrors MNIST images, in order to make it extremely easy to visualize, manipulate, and train models in an efficient manner. We include relevant information to connect each bootleg score image with its underlying raw sheet music image, and we scrape, organize, and compile metadata from IMSLP on all piano works to facilitate multimodal research and allow for convenient linking to other datasets. We release baseline results in a supervised and low-shot setting for future works to compare against, and we discuss open research questions that the PBSCR data is especially well suited to facilitate research on.

In today's interconnected globe, moving abroad is more and more prevalent, whether it's for employment, refugee resettlement, or other causes. Language difficulties between natives and immigrants present a common issue on a daily basis, especially in medical domain. This can make it difficult for patients and doctors to communicate during anamnesis or in the emergency room, which compromises patient care. The goal of the HYKIST Project is to develop a speech translation system to support patient-doctor communication with ASR and MT. ASR systems have recently displayed astounding performance on particular tasks for which enough quantities of training data are available, such as LibriSpeech. Building a good model is still difficult due to a variety of speaking styles, acoustic and recording settings, and a lack of in-domain training data. In this thesis, we describe our efforts to construct ASR systems for a conversational telephone speech recognition task in the medical domain for Vietnamese language to assist emergency room contact between doctors and patients across linguistic barriers. In order to enhance the system's performance, we investigate various training schedules and data combining strategies. We also examine how best to make use of the little data that is available. The use of publicly accessible models like XLSR-53 is compared to the use of customized pre-trained models, and both supervised and unsupervised approaches are utilized using wav2vec 2.0 as architecture.

This work dedicates to continuous sign language recognition (CSLR), which is a weakly supervised task dealing with the recognition of continuous signs from videos, without any prior knowledge about the temporal boundaries between consecutive signs. Data scarcity heavily impedes the progress of CSLR. Existing approaches typically train CSLR models on a monolingual corpus, which is orders of magnitude smaller than that of speech recognition. In this work, we explore the feasibility of utilizing multilingual sign language corpora to facilitate monolingual CSLR. Our work is built upon the observation of cross-lingual signs, which originate from different sign languages but have similar visual signals (e.g., hand shape and motion). The underlying idea of our approach is to identify the cross-lingual signs in one sign language and properly leverage them as auxiliary training data to improve the recognition capability of another. To achieve the goal, we first build two sign language dictionaries containing isolated signs that appear in two datasets. Then we identify the sign-to-sign mappings between two sign languages via a well-optimized isolated sign language recognition model. At last, we train a CSLR model on the combination of the target data with original labels and the auxiliary data with mapped labels. Experimentally, our approach achieves state-of-the-art performance on two widely-used CSLR datasets: Phoenix-2014 and Phoenix-2014T.

The paper announces the new long-term challenge for improving the performance of automatic speech recognition systems. The goal of the challenge is to investigate methods of correcting the recognition results on the basis of previously made errors by the speech processing system. The dataset prepared for the task is described and evaluation criteria are presented.

We introduce Universal NER (UNER), an open, community-driven project to develop gold-standard NER benchmarks in many languages. The overarching goal of UNER is to provide high-quality, cross-lingually consistent annotations to facilitate and standardize multilingual NER research. UNER v1 contains 18 datasets annotated with named entities in a cross-lingual consistent schema across 12 diverse languages. In this paper, we detail the dataset creation and composition of UNER; we also provide initial modeling baselines on both in-language and cross-lingual learning settings. We release the data, code, and fitted models to the public.

Motivated by the widespread increase in the phenomenon of code-switching between Egyptian Arabic and English in recent times, this paper explores the intricacies of machine translation (MT) and automatic speech recognition (ASR) systems, focusing on translating code-switched Egyptian Arabic-English to either English or Egyptian Arabic. Our goal is to present the methodologies employed in developing these systems, utilizing large language models such as LLama and Gemma. In the field of ASR, we explore the utilization of the Whisper model for code-switched Egyptian Arabic recognition, detailing our experimental procedures including data preprocessing and training techniques. Through the implementation of a consecutive speech-to-text translation system that integrates ASR with MT, we aim to overcome challenges posed by limited resources and the unique characteristics of the Egyptian Arabic dialect. Evaluation against established metrics showcases promising results, with our methodologies yielding a significant improvement of 56% in English translation over the state-of-the-art and 9.3% in Arabic translation. Since code-switching is deeply inherent in spoken languages, it is crucial that ASR systems can effectively handle this phenomenon. This capability is crucial for enabling seamless interaction in various domains, including business negotiations, cultural exchanges, and academic discourse. Our models and code are available as open-source resources. Code: http://github.com/ahmedheakl/arazn-llm}, Models: http://huggingface.co/collections/ahmedheakl/arazn-llm-662ceaf12777656607b9524e.

We test and study the variation in speech recognition of fine-tuned versions of the Whisper model on child, elderly and non-native Dutch speech from the JASMIN-CGN corpus. Our primary goal is to evaluate how speakers' age and linguistic background influence Whisper's performance. Whisper achieves varying Word Error Rates (WER) when fine-tuned on subpopulations of specific ages and linguistic backgrounds. Fine-tuned performance is remarkably better than zero-shot performance, achieving a relative reduction in WER of 81% for native children, 72% for non-native children, 67% for non-native adults, and 65% for native elderly people. Our findings underscore the importance of training speech recognition models like Whisper on underrepresented subpopulations such as children, the elderly, and non-native speakers.

In this paper, we consider the problem of simultaneously detecting objects and inferring their visual attributes in an image, even for those with no manual annotations provided at the training stage, resembling an open-vocabulary scenario. To achieve this goal, we make the following contributions: (i) we start with a naive two-stage approach for open-vocabulary object detection and attribute classification, termed CLIP-Attr. The candidate objects are first proposed with an offline RPN and later classified for semantic category and attributes; (ii) we combine all available datasets and train with a federated strategy to finetune the CLIP model, aligning the visual representation with attributes, additionally, we investigate the efficacy of leveraging freely available online image-caption pairs under weakly supervised learning; (iii) in pursuit of efficiency, we train a Faster-RCNN type model end-to-end with knowledge distillation, that performs class-agnostic object proposals and classification on semantic categories and attributes with classifiers generated from a text encoder; Finally, (iv) we conduct extensive experiments on VAW, MS-COCO, LSA, and OVAD datasets, and show that recognition of semantic category and attributes is complementary for visual scene understanding, i.e., jointly training object detection and attributes prediction largely outperform existing approaches that treat the two tasks independently, demonstrating strong generalization ability to novel attributes and categories.

Recent studies often exploit Graph Convolutional Network (GCN) to model label dependencies to improve recognition accuracy for multi-label image recognition. However, constructing a graph by counting the label co-occurrence possibilities of the training data may degrade model generalizability, especially when there exist occasional co-occurrence objects in test images. Our goal is to eliminate such bias and enhance the robustness of the learnt features. To this end, we propose an Attention-Driven Dynamic Graph Convolutional Network (ADD-GCN) to dynamically generate a specific graph for each image. ADD-GCN adopts a Dynamic Graph Convolutional Network (D-GCN) to model the relation of content-aware category representations that are generated by a Semantic Attention Module (SAM). Extensive experiments on public multi-label benchmarks demonstrate the effectiveness of our method, which achieves mAPs of 85.2%, 96.0%, and 95.5% on MS-COCO, VOC2007, and VOC2012, respectively, and outperforms current state-of-the-art methods with a clear margin. All codes can be found at https://github.com/Yejin0111/ADD-GCN.

Worldwide, in 2014, more than 1.9 billion adults, 18 years and older, were overweight. Of these, over 600 million were obese. Accurately documenting dietary caloric intake is crucial to manage weight loss, but also presents challenges because most of the current methods for dietary assessment must rely on memory to recall foods eaten. The ultimate goal of our research is to develop computer-aided technical solutions to enhance and improve the accuracy of current measurements of dietary intake. Our proposed system in this paper aims to improve the accuracy of dietary assessment by analyzing the food images captured by mobile devices (e.g., smartphone). The key technique innovation in this paper is the deep learning-based food image recognition algorithms. Substantial research has demonstrated that digital imaging accurately estimates dietary intake in many environments and it has many advantages over other methods. However, how to derive the food information (e.g., food type and portion size) from food image effectively and efficiently remains a challenging and open research problem. We propose a new Convolutional Neural Network (CNN)-based food image recognition algorithm to address this problem. We applied our proposed approach to two real-world food image data sets (UEC-256 and Food-101) and achieved impressive results. To the best of our knowledge, these results outperformed all other reported work using these two data sets. Our experiments have demonstrated that the proposed approach is a promising solution for addressing the food image recognition problem. Our future work includes further improving the performance of the algorithms and integrating our system into a real-world mobile and cloud computing-based system to enhance the accuracy of current measurements of dietary intake.

Teaching Computer Science (CS) by having students write programs by hand on paper has key pedagogical advantages: It allows focused learning and requires careful thinking compared to the use of Integrated Development Environments (IDEs) with intelligent support tools or "just trying things out". The familiar environment of pens and paper also lessens the cognitive load of students with no prior experience with computers, for whom the mere basic usage of computers can be intimidating. Finally, this teaching approach opens learning opportunities to students with limited access to computers. However, a key obstacle is the current lack of teaching methods and support software for working with and running handwritten programs. Optical character recognition (OCR) of handwritten code is challenging: Minor OCR errors, perhaps due to varied handwriting styles, easily make code not run, and recognizing indentation is crucial for languages like Python but is difficult to do due to inconsistent horizontal spacing in handwriting. Our approach integrates two innovative methods. The first combines OCR with an indentation recognition module and a language model designed for post-OCR error correction without introducing hallucinations. This method, to our knowledge, surpasses all existing systems in handwritten code recognition. It reduces error from 30\% in the state of the art to 5\% with minimal hallucination of logical fixes to student programs. The second method leverages a multimodal language model to recognize handwritten programs in an end-to-end fashion. We hope this contribution can stimulate further pedagogical research and contribute to the goal of making CS education universally accessible. We release a dataset of handwritten programs and code to support future research at https://github.com/mdoumbouya/codeocr

In this paper, we are comparing monolingual Wav2Vec 2.0 models with various multilingual models to see whether we could improve speech recognition performance on a unique oral history archive containing a lot of mixed-language sentences. Our main goal is to push forward research on this unique dataset, which is an extremely valuable part of our cultural heritage. Our results suggest that monolingual speech recognition models are, in most cases, superior to multilingual models, even when processing the oral history archive full of mixed-language sentences from non-native speakers. We also performed the same experiments on the public CommonVoice dataset to verify our results. We are contributing to the research community by releasing our pre-trained models to the public.

The goal of building a benchmark (suite of datasets) is to provide a unified protocol for fair evaluation and thus facilitate the evolution of a specific area. Nonetheless, we point out that existing protocols of action recognition could yield partial evaluations due to several limitations. To comprehensively probe the effectiveness of spatiotemporal representation learning, we introduce BEAR, a new BEnchmark on video Action Recognition. BEAR is a collection of 18 video datasets grouped into 5 categories (anomaly, gesture, daily, sports, and instructional), which covers a diverse set of real-world applications. With BEAR, we thoroughly evaluate 6 common spatiotemporal models pre-trained by both supervised and self-supervised learning. We also report transfer performance via standard finetuning, few-shot finetuning, and unsupervised domain adaptation. Our observation suggests that current state-of-the-art cannot solidly guarantee high performance on datasets close to real-world applications, and we hope BEAR can serve as a fair and challenging evaluation benchmark to gain insights on building next-generation spatiotemporal learners. Our dataset, code, and models are released at: https://github.com/AndongDeng/BEAR

Speech emotion recognition (SER) plays a vital role in improving the interactions between humans and machines by inferring human emotion and affective states from speech signals. Whereas recent works primarily focus on mining spatiotemporal information from hand-crafted features, we explore how to model the temporal patterns of speech emotions from dynamic temporal scales. Towards that goal, we introduce a novel temporal emotional modeling approach for SER, termed Temporal-aware bI-direction Multi-scale Network (TIM-Net), which learns multi-scale contextual affective representations from various time scales. Specifically, TIM-Net first employs temporal-aware blocks to learn temporal affective representation, then integrates complementary information from the past and the future to enrich contextual representations, and finally, fuses multiple time scale features for better adaptation to the emotional variation. Extensive experimental results on six benchmark SER datasets demonstrate the superior performance of TIM-Net, gaining 2.34% and 2.61% improvements of the average UAR and WAR over the second-best on each corpus. The source code is available at https://github.com/Jiaxin-Ye/TIM-Net_SER.

Gait recognition is one of the most critical long-distance identification technologies and increasingly gains popularity in both research and industry communities. Despite the significant progress made in indoor datasets, much evidence shows that gait recognition techniques perform poorly in the wild. More importantly, we also find that some conclusions drawn from indoor datasets cannot be generalized to real applications. Therefore, the primary goal of this paper is to present a comprehensive benchmark study for better practicality rather than only a particular model for better performance. To this end, we first develop a flexible and efficient gait recognition codebase named OpenGait. Based on OpenGait, we deeply revisit the recent development of gait recognition by re-conducting the ablative experiments. Encouragingly,we detect some unperfect parts of certain prior woks, as well as new insights. Inspired by these discoveries, we develop a structurally simple, empirically powerful, and practically robust baseline model, GaitBase. Experimentally, we comprehensively compare GaitBase with many current gait recognition methods on multiple public datasets, and the results reflect that GaitBase achieves significantly strong performance in most cases regardless of indoor or outdoor situations. Code is available at https://github.com/ShiqiYu/OpenGait.

A lot of research has been devoted to identity documents analysis and recognition on mobile devices. However, no publicly available datasets designed for this particular problem currently exist. There are a few datasets which are useful for associated subtasks but in order to facilitate a more comprehensive scientific and technical approach to identity document recognition more specialized datasets are required. In this paper we present a Mobile Identity Document Video dataset (MIDV-500) consisting of 500 video clips for 50 different identity document types with ground truth which allows to perform research in a wide scope of document analysis problems. The paper presents characteristics of the dataset and evaluation results for existing methods of face detection, text line recognition, and document fields data extraction. Since an important feature of identity documents is their sensitiveness as they contain personal data, all source document images used in MIDV-500 are either in public domain or distributed under public copyright licenses. The main goal of this paper is to present a dataset. However, in addition and as a baseline, we present evaluation results for existing methods for face detection, text line recognition, and document data extraction, using the presented dataset. (The dataset is available for download at ftp://smartengines.com/midv-500/.)

The long-standing goal of Artificial Intelligence (AI) has been to create human-like conversational systems. Such systems should have the ability to develop an emotional connection with the users, hence emotion recognition in dialogues is an important task. Emotion detection in dialogues is a challenging task because humans usually convey multiple emotions with varying degrees of intensities in a single utterance. Moreover, emotion in an utterance of a dialogue may be dependent on previous utterances making the task more complex. Emotion recognition has always been in great demand. However, most of the existing datasets for multi-label emotion and intensity detection in conversations are in English. To this end, we create a large conversational dataset in Hindi named EmoInHindi for multi-label emotion and intensity recognition in conversations containing 1,814 dialogues with a total of 44,247 utterances. We prepare our dataset in a Wizard-of-Oz manner for mental health and legal counselling of crime victims. Each utterance of the dialogue is annotated with one or more emotion categories from the 16 emotion classes including neutral, and their corresponding intensity values. We further propose strong contextual baselines that can detect emotion(s) and the corresponding intensity of an utterance given the conversational context.

Emotions widely affect human decision-making. This fact is taken into account by affective computing with the goal of tailoring decision support to the emotional states of individuals. However, the accurate recognition of emotions within narrative documents presents a challenging undertaking due to the complexity and ambiguity of language. Performance improvements can be achieved through deep learning; yet, as demonstrated in this paper, the specific nature of this task requires the customization of recurrent neural networks with regard to bidirectional processing, dropout layers as a means of regularization, and weighted loss functions. In addition, we propose sent2affect, a tailored form of transfer learning for affective computing: here the network is pre-trained for a different task (i.e. sentiment analysis), while the output layer is subsequently tuned to the task of emotion recognition. The resulting performance is evaluated in a holistic setting across 6 benchmark datasets, where we find that both recurrent neural networks and transfer learning consistently outperform traditional machine learning. Altogether, the findings have considerable implications for the use of affective computing.

Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in camera viewpoint and scene appearance. Existing visual place recognition pipelines encode the "whole" image and search for matches. This poses a fundamental challenge in matching two images of the same place captured from different camera viewpoints: "the similarity of what overlaps can be dominated by the dissimilarity of what does not overlap". We address this by encoding and searching for "image segments" instead of the whole images. We propose to use open-set image segmentation to decompose an image into `meaningful' entities (i.e., things and stuff). This enables us to create a novel image representation as a collection of multiple overlapping subgraphs connecting a segment with its neighboring segments, dubbed SuperSegment. Furthermore, to efficiently encode these SuperSegments into compact vector representations, we propose a novel factorized representation of feature aggregation. We show that retrieving these partial representations leads to significantly higher recognition recall than the typical whole image based retrieval. Our segments-based approach, dubbed SegVLAD, sets a new state-of-the-art in place recognition on a diverse selection of benchmark datasets, while being applicable to both generic and task-specialized image encoders. Finally, we demonstrate the potential of our method to ``revisit anything'' by evaluating our method on an object instance retrieval task, which bridges the two disparate areas of research: visual place recognition and object-goal navigation, through their common aim of recognizing goal objects specific to a place. Source code: https://github.com/AnyLoc/Revisit-Anything.

The detection and removal of landmines is a complex and risky task that requires advanced remote sensing techniques to reduce the risk for the professionals involved in this task. In this paper, we propose a novel synthetic dataset for buried landmine detection to provide researchers with a valuable resource to observe, measure, locate, and address issues in landmine detection. The dataset consists of 41,800 microwave holographic images (2D) and their holographic inverted scans (3D) of different types of buried objects, including landmines, clutter, and pottery objects, and is collected by means of a microwave holography sensor. We evaluate the performance of several state-of-the-art deep learning models trained on our synthetic dataset for various classification tasks. While the results do not yield yet high performances, showing the difficulty of the proposed task, we believe that our dataset has significant potential to drive progress in the field of landmine detection thanks to the accuracy and resolution obtainable using holographic radars. To the best of our knowledge, our dataset is the first of its kind and will help drive further research on computer vision methods to automatize mine detection, with the overall goal of reducing the risks and the costs of the demining process.

Temporal modelling is the key for efficient video action recognition. While understanding temporal information can improve recognition accuracy for dynamic actions, removing temporal redundancy and reusing past features can significantly save computation leading to efficient action recognition. In this paper, we introduce an adaptive temporal fusion network, called AdaFuse, that dynamically fuses channels from current and past feature maps for strong temporal modelling. Specifically, the necessary information from the historical convolution feature maps is fused with current pruned feature maps with the goal of improving both recognition accuracy and efficiency. In addition, we use a skipping operation to further reduce the computation cost of action recognition. Extensive experiments on Something V1 & V2, Jester and Mini-Kinetics show that our approach can achieve about 40% computation savings with comparable accuracy to state-of-the-art methods. The project page can be found at https://mengyuest.github.io/AdaFuse/

Action recognition is an open and challenging problem in computer vision. While current state-of-the-art models offer excellent recognition results, their computational expense limits their impact for many real-world applications. In this paper, we propose a novel approach, called AR-Net (Adaptive Resolution Network), that selects on-the-fly the optimal resolution for each frame conditioned on the input for efficient action recognition in long untrimmed videos. Specifically, given a video frame, a policy network is used to decide what input resolution should be used for processing by the action recognition model, with the goal of improving both accuracy and efficiency. We efficiently train the policy network jointly with the recognition model using standard back-propagation. Extensive experiments on several challenging action recognition benchmark datasets well demonstrate the efficacy of our proposed approach over state-of-the-art methods. The project page can be found at https://mengyuest.github.io/AR-Net

User Satisfaction Estimation (USE) is an important yet challenging task in goal-oriented conversational systems. Whether the user is satisfied with the system largely depends on the fulfillment of the user's needs, which can be implicitly reflected by users' dialogue acts. However, existing studies often neglect the sequential transitions of dialogue act or rely heavily on annotated dialogue act labels when utilizing dialogue acts to facilitate USE. In this paper, we propose a novel framework, namely USDA, to incorporate the sequential dynamics of dialogue acts for predicting user satisfaction, by jointly learning User Satisfaction Estimation and Dialogue Act Recognition tasks. In specific, we first employ a Hierarchical Transformer to encode the whole dialogue context, with two task-adaptive pre-training strategies to be a second-phase in-domain pre-training for enhancing the dialogue modeling ability. In terms of the availability of dialogue act labels, we further develop two variants of USDA to capture the dialogue act information in either supervised or unsupervised manners. Finally, USDA leverages the sequential transitions of both content and act features in the dialogue to predict the user satisfaction. Experimental results on four benchmark goal-oriented dialogue datasets across different applications show that the proposed method substantially and consistently outperforms existing methods on USE, and validate the important role of dialogue act sequences in USE.

Precise recognition of search intent in Retrieval-Augmented Generation (RAG) systems remains a challenging goal, especially under resource constraints and for complex queries with nested structures and dependencies. This paper presents QCompiler, a neuro-symbolic framework inspired by linguistic grammar rules and compiler design, to bridge this gap. It theoretically designs a minimal yet sufficient Backus-Naur Form (BNF) grammar G[q] to formalize complex queries. Unlike previous methods, this grammar maintains completeness while minimizing redundancy. Based on this, QCompiler includes a Query Expression Translator, a Lexical Syntax Parser, and a Recursive Descent Processor to compile queries into Abstract Syntax Trees (ASTs) for execution. The atomicity of the sub-queries in the leaf nodes ensures more precise document retrieval and response generation, significantly improving the RAG system's ability to address complex queries.

The goal of continual learning is to improve the performance of recognition models in learning sequentially arrived data. Although most existing works are established on the premise of learning from scratch, growing efforts have been devoted to incorporating the benefits of pre-training. However, how to adaptively exploit the pre-trained knowledge for each incremental task while maintaining its generalizability remains an open question. In this work, we present an extensive analysis for continual learning on a pre-trained model (CLPM), and attribute the key challenge to a progressive overfitting problem. Observing that selectively reducing the learning rate can almost resolve this issue in the representation layer, we propose a simple but extremely effective approach named Slow Learner with Classifier Alignment (SLCA), which further improves the classification layer by modeling the class-wise distributions and aligning the classification layers in a post-hoc fashion. Across a variety of scenarios, our proposal provides substantial improvements for CLPM (e.g., up to 49.76%, 50.05%, 44.69% and 40.16% on Split CIFAR-100, Split ImageNet-R, Split CUB-200 and Split Cars-196, respectively), and thus outperforms state-of-the-art approaches by a large margin. Based on such a strong baseline, critical factors and promising directions are analyzed in-depth to facilitate subsequent research. Code has been made available at: https://github.com/GengDavid/SLCA.

We present the Charles University system for the MRL~2023 Shared Task on Multi-lingual Multi-task Information Retrieval. The goal of the shared task was to develop systems for named entity recognition and question answering in several under-represented languages. Our solutions to both subtasks rely on the translate-test approach. We first translate the unlabeled examples into English using a multilingual machine translation model. Then, we run inference on the translated data using a strong task-specific model. Finally, we project the labeled data back into the original language. To keep the inferred tags on the correct positions in the original language, we propose a method based on scoring the candidate positions using a label-sensitive translation model. In both settings, we experiment with finetuning the classification models on the translated data. However, due to a domain mismatch between the development data and the shared task validation and test sets, the finetuned models could not outperform our baselines.

The goal of this work is to train strong models for visual speech recognition without requiring human annotated ground truth data. We achieve this by distilling from an Automatic Speech Recognition (ASR) model that has been trained on a large-scale audio-only corpus. We use a cross-modal distillation method that combines Connectionist Temporal Classification (CTC) with a frame-wise cross-entropy loss. Our contributions are fourfold: (i) we show that ground truth transcriptions are not necessary to train a lip reading system; (ii) we show how arbitrary amounts of unlabelled video data can be leveraged to improve performance; (iii) we demonstrate that distillation significantly speeds up training; and, (iv) we obtain state-of-the-art results on the challenging LRS2 and LRS3 datasets for training only on publicly available data.

A face morph is created by combining the face images usually pertaining to two distinct identities. The goal is to generate an image that can be matched with two identities thereby undermining the security of a face recognition system. To deal with this problem, several morph attack detection techniques have been developed. But these methods do not extract any information about the underlying bonafides used to create them. Demorphing addresses this limitation. However, current demorphing techniques are mostly reference-based, i.e, they need an image of one of the identities to recover the other. In this work, we treat demorphing as an ill-posed decomposition problem. We propose a novel method that is reference-free and recovers the bonafides with high accuracy. Our method decomposes the morph into several identity-preserving feature components. A merger network then weighs and combines these components to recover the bonafides. Our method is observed to reconstruct high-quality bonafides in terms of definition and fidelity. Experiments on the CASIA-WebFace, SMDD and AMSL datasets demonstrate the effectiveness of our method.

Recent years have seen an increased interest in the computational speech processing of Maltese, but resources remain sparse. In this paper, we consider data augmentation techniques for improving speech recognition for low-resource languages, focusing on Maltese as a test case. We consider three different types of data augmentation: unsupervised training, multilingual training and the use of synthesized speech as training data. The goal is to determine which of these techniques, or combination of them, is the most effective to improve speech recognition for languages where the starting point is a small corpus of approximately 7 hours of transcribed speech. Our results show that combining the data augmentation techniques studied here lead us to an absolute WER improvement of 15% without the use of a language model.

Prompt engineering is very important to enhance the performance of large language models (LLMs). When dealing with complex issues, prompt engineers tend to distill multiple patterns from examples and inject relevant solutions to optimize the prompts, achieving satisfying results. However, existing automatic prompt optimization techniques are only limited to producing single flow instructions, struggling with handling diverse patterns. In this paper, we present AMPO, an automatic prompt optimization method that can iteratively develop a multi-branched prompt using failure cases as feedback. Our goal is to explore a novel way of structuring prompts with multi-branches to better handle multiple patterns in complex tasks, for which we introduce three modules: Pattern Recognition, Branch Adjustment, and Branch Pruning. In experiments across five tasks, AMPO consistently achieves the best results. Additionally, our approach demonstrates significant optimization efficiency due to our adoption of a minimal search strategy.

We present a new dataset with the goal of advancing the state-of-the-art in object recognition by placing the question of object recognition in the context of the broader question of scene understanding. This is achieved by gathering images of complex everyday scenes containing common objects in their natural context. Objects are labeled using per-instance segmentations to aid in precise object localization. Our dataset contains photos of 91 objects types that would be easily recognizable by a 4 year old. With a total of 2.5 million labeled instances in 328k images, the creation of our dataset drew upon extensive crowd worker involvement via novel user interfaces for category detection, instance spotting and instance segmentation. We present a detailed statistical analysis of the dataset in comparison to PASCAL, ImageNet, and SUN. Finally, we provide baseline performance analysis for bounding box and segmentation detection results using a Deformable Parts Model.

Kinship recognition aims to determine whether the subjects in two facial images are kin or non-kin, which is an emerging and challenging problem. However, most previous methods focus on heuristic designs without considering the spatial correlation between face images. In this paper, we aim to learn discriminative kinship representations embedded with the relation information between face components (e.g., eyes, nose, etc.). To achieve this goal, we propose the Face Componential Relation Network, which learns the relationship between face components among images with a cross-attention mechanism, which automatically learns the important facial regions for kinship recognition. Moreover, we propose Face Componential Relation Network (FaCoRNet), which adapts the loss function by the guidance from cross-attention to learn more discriminative feature representations. The proposed FaCoRNet outperforms previous state-of-the-art methods by large margins for the largest public kinship recognition FIW benchmark.

Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To address this, we developed Astra, a comprehensive dual-model architecture, Astra-Global and Astra-Local, for mobile robot navigation. Astra-Global, a multimodal LLM, processes vision and language inputs to perform self and goal localization using a hybrid topological-semantic graph as the global map, and outperforms traditional visual place recognition methods. Astra-Local, a multitask network, handles local path planning and odometry estimation. Its 4D spatial-temporal encoder, trained through self-supervised learning, generates robust 4D features for downstream tasks. The planning head utilizes flow matching and a novel masked ESDF loss to minimize collision risks for generating local trajectories, and the odometry head integrates multi-sensor inputs via a transformer encoder to predict the relative pose of the robot. Deployed on real in-house mobile robots, Astra achieves high end-to-end mission success rate across diverse indoor environments.

We propose cognitive prompting as a novel approach to guide problem-solving in large language models (LLMs) through structured, human-like cognitive operations such as goal clarification, decomposition, filtering, abstraction, and pattern recognition. By employing systematic, step-by-step reasoning, cognitive prompting enables LLMs to efficiently tackle complex, multi-step tasks. We evaluate the effectiveness of cognitive prompting on Meta's LLaMA models, comparing performance on arithmetic reasoning tasks using the GSM8K dataset and on commonsense reasoning benchmarks. Our analysis includes comparisons between models without cognitive prompting, models with a static sequence of cognitive operations, and models using reflective cognitive prompting, where the LLM dynamically self-selects the sequence of cognitive operations. The results show that cognitive prompting, particularly when dynamically adapted, significantly improves the performance of larger models, such as LLaMA3.1 70B, and enhances their ability to handle multi-step reasoning tasks. This approach also improves interpretability and flexibility, highlighting cognitive prompting as a promising strategy for general-purpose AI reasoning.

When reading, we often have specific information that interests us in a text. For example, you might be reading this paper because you are curious about LLMs for eye movements in reading, the experimental design, or perhaps you only care about the question ``but does it work?''. More broadly, in daily life, people approach texts with any number of text-specific goals that guide their reading behavior. In this work, we ask, for the first time, whether open-ended reading goals can be automatically decoded from eye movements in reading. To address this question, we introduce goal classification and goal reconstruction tasks and evaluation frameworks, and use large-scale eye tracking for reading data in English with hundreds of text-specific information seeking tasks. We develop and compare several discriminative and generative multimodal LLMs that combine eye movements and text for goal classification and goal reconstruction. Our experiments show considerable success on both tasks, suggesting that LLMs can extract valuable information about the readers' text-specific goals from eye movements.

Understanding what sequence of steps are needed to complete a goal can help artificial intelligence systems reason about human activities. Past work in NLP has examined the task of goal-step inference for text. We introduce the visual analogue. We propose the Visual Goal-Step Inference (VGSI) task, where a model is given a textual goal and must choose which of four images represents a plausible step towards that goal. With a new dataset harvested from wikiHow consisting of 772,277 images representing human actions, we show that our task is challenging for state-of-the-art multimodal models. Moreover, the multimodal representation learned from our data can be effectively transferred to other datasets like HowTo100m, increasing the VGSI accuracy by 15 - 20%. Our task will facilitate multimodal reasoning about procedural events.

Robots operating alongside humans in diverse, stochastic environments must be able to accurately interpret natural language commands. These instructions often fall into one of two categories: those that specify a goal condition or target state, and those that specify explicit actions, or how to perform a given task. Recent approaches have used reward functions as a semantic representation of goal-based commands, which allows for the use of a state-of-the-art planner to find a policy for the given task. However, these reward functions cannot be directly used to represent action-oriented commands. We introduce a new hybrid approach, the Deep Recurrent Action-Goal Grounding Network (DRAGGN), for task grounding and execution that handles natural language from either category as input, and generalizes to unseen environments. Our robot-simulation results demonstrate that a system successfully interpreting both goal-oriented and action-oriented task specifications brings us closer to robust natural language understanding for human-robot interaction.

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills must handle raw sensory input such as images. In this paper, we propose an algorithm that acquires such general-purpose skills by combining unsupervised representation learning and reinforcement learning of goal-conditioned policies. Since the particular goals that might be required at test-time are not known in advance, the agent performs a self-supervised "practice" phase where it imagines goals and attempts to achieve them. We learn a visual representation with three distinct purposes: sampling goals for self-supervised practice, providing a structured transformation of raw sensory inputs, and computing a reward signal for goal reaching. We also propose a retroactive goal relabeling scheme to further improve the sample-efficiency of our method. Our off-policy algorithm is efficient enough to learn policies that operate on raw image observations and goals for a real-world robotic system, and substantially outperforms prior techniques.

In our pursuit of advancing multi-modal AI assistants capable of guiding users to achieve complex multi-step goals, we propose the task of "Visual Planning for Assistance (VPA)". Given a succinct natural language goal, e.g., "make a shelf", and a video of the user's progress so far, the aim of VPA is to devise a plan, i.e., a sequence of actions such as "sand shelf", "paint shelf", etc. to realize the specified goal. This requires assessing the user's progress from the (untrimmed) video, and relating it to the requirements of natural language goal, i.e., which actions to select and in what order? Consequently, this requires handling long video history and arbitrarily complex action dependencies. To address these challenges, we decompose VPA into video action segmentation and forecasting. Importantly, we experiment by formulating the forecasting step as a multi-modal sequence modeling problem, allowing us to leverage the strength of pre-trained LMs (as the sequence model). This novel approach, which we call Visual Language Model based Planner (VLaMP), outperforms baselines across a suite of metrics that gauge the quality of the generated plans. Furthermore, through comprehensive ablations, we also isolate the value of each component--language pre-training, visual observations, and goal information. We have open-sourced all the data, model checkpoints, and training code.

Image-goal navigation aims to steer an agent towards the goal location specified by an image. Most prior methods tackle this task by learning a navigation policy, which extracts visual features of goal and observation images, compares their similarity and predicts actions. However, if the agent is in a different room from the goal image, it's extremely challenging to identify their similarity and infer the likely goal location, which may result in the agent wandering around. Intuitively, when humans carry out this task, they may roughly compare the current observation with the goal image, having an approximate concept of whether they are in the same room before executing the actions. Inspired by this intuition, we try to imitate human behaviour and propose a Room Expert Guided Image-Goal Navigation model (REGNav) to equip the agent with the ability to analyze whether goal and observation images are taken in the same room. Specifically, we first pre-train a room expert with an unsupervised learning technique on the self-collected unlabelled room images. The expert can extract the hidden room style information of goal and observation images and predict their relationship about whether they belong to the same room. In addition, two different fusion approaches are explored to efficiently guide the agent navigation with the room relation knowledge. Extensive experiments show that our REGNav surpasses prior state-of-the-art works on three popular benchmarks.

We aim to develop a goal specification method that is semantically clear, spatially sensitive, and intuitive for human users to guide agent interactions in embodied environments. Specifically, we propose a novel cross-view goal alignment framework that allows users to specify target objects using segmentation masks from their own camera views rather than the agent's observations. We highlight that behavior cloning alone fails to align the agent's behavior with human intent when the human and agent camera views differ significantly. To address this, we introduce two auxiliary objectives: cross-view consistency loss and target visibility loss, which explicitly enhance the agent's spatial reasoning ability. According to this, we develop ROCKET-2, a state-of-the-art agent trained in Minecraft, achieving an improvement in the efficiency of inference 3x to 6x. We show ROCKET-2 can directly interpret goals from human camera views for the first time, paving the way for better human-agent interaction.

Autonomous agents that interact with graphical user interfaces (GUIs) hold significant potential for enhancing user experiences. To further improve these experiences, agents need to be personalized and proactive. By effectively comprehending user intentions through their actions and interactions with GUIs, agents will be better positioned to achieve these goals. This paper introduces the task of goal identification from observed UI trajectories, aiming to infer the user's intended task based on their GUI interactions. We propose a novel evaluation metric to assess whether two task descriptions are paraphrases within a specific UI environment. By Leveraging the inverse relation with the UI automation task, we utilized the Android-In-The-Wild and Mind2Web datasets for our experiments. Using our metric and these datasets, we conducted several experiments comparing the performance of humans and state-of-the-art models, specifically GPT-4 and Gemini-1.5 Pro. Our results show that Gemini performs better than GPT but still underperforms compared to humans, indicating significant room for improvement.

We present an online method for embodied agents to learn and accomplish diverse user goals. While offline methods like RLHF can represent various goals but require large datasets, our approach achieves similar flexibility with online efficiency. We extract natural language goal representations from conversations with Large Language Models (LLMs). We prompt an LLM to role play as a human with different goals and use the corresponding likelihoods to run Bayesian inference over potential goals. As a result, our method can represent uncertainty over complex goals based on unrestricted dialog. We evaluate our method in grocery shopping and home robot assistance domains using a text-based interface and AI2Thor simulation respectively. Results show our method outperforms ablation baselines that lack either explicit goal representation or probabilistic inference.

One difficulty in using artificial agents for human-assistive applications lies in the challenge of accurately assisting with a person's goal(s). Existing methods tend to rely on inferring the human's goal, which is challenging when there are many potential goals or when the set of candidate goals is difficult to identify. We propose a new paradigm for assistance by instead increasing the human's ability to control their environment, and formalize this approach by augmenting reinforcement learning with human empowerment. This task-agnostic objective preserves the person's autonomy and ability to achieve any eventual state. We test our approach against assistance based on goal inference, highlighting scenarios where our method overcomes failure modes stemming from goal ambiguity or misspecification. As existing methods for estimating empowerment in continuous domains are computationally hard, precluding its use in real time learned assistance, we also propose an efficient empowerment-inspired proxy metric. Using this, we are able to successfully demonstrate our method in a shared autonomy user study for a challenging simulated teleoperation task with human-in-the-loop training.

Unsupervised clustering is widely used to explore large corpora, but existing formulations neither consider the users' goals nor explain clusters' meanings. We propose a new task formulation, "Goal-Driven Clustering with Explanations" (GoalEx), which represents both the goal and the explanations as free-form language descriptions. For example, to categorize the errors made by a summarization system, the input to GoalEx is a corpus of annotator-written comments for system-generated summaries and a goal description "cluster the comments based on why the annotators think the summary is imperfect.''; the outputs are text clusters each with an explanation ("this cluster mentions that the summary misses important context information."), which relates to the goal and precisely explain which comments should (not) belong to a cluster. To tackle GoalEx, we prompt a language model with "[corpus subset] + [goal] + Brainstorm a list of explanations each representing a cluster."; then we classify whether each sample belongs to a cluster based on its explanation; finally, we use integer linear programming to select a subset of candidate clusters to cover most samples while minimizing overlaps. Under both automatic and human evaluation on corpora with or without labels, our method produces more accurate and goal-related explanations than prior methods. We release our data and implementation at https://github.com/ZihanWangKi/GoalEx.

Humans learn to master open-ended repertoires of skills by imagining and practicing their own goals. This autotelic learning process, literally the pursuit of self-generated (auto) goals (telos), becomes more and more open-ended as the goals become more diverse, abstract and creative. The resulting exploration of the space of possible skills is supported by an inter-individual exploration: goal representations are culturally evolved and transmitted across individuals, in particular using language. Current artificial agents mostly rely on predefined goal representations corresponding to goal spaces that are either bounded (e.g. list of instructions), or unbounded (e.g. the space of possible visual inputs) but are rarely endowed with the ability to reshape their goal representations, to form new abstractions or to imagine creative goals. In this paper, we introduce a language model augmented autotelic agent (LMA3) that leverages a pretrained language model (LM) to support the representation, generation and learning of diverse, abstract, human-relevant goals. The LM is used as an imperfect model of human cultural transmission; an attempt to capture aspects of humans' common-sense, intuitive physics and overall interests. Specifically, it supports three key components of the autotelic architecture: 1)~a relabeler that describes the goals achieved in the agent's trajectories, 2)~a goal generator that suggests new high-level goals along with their decomposition into subgoals the agent already masters, and 3)~reward functions for each of these goals. Without relying on any hand-coded goal representations, reward functions or curriculum, we show that LMA3 agents learn to master a large diversity of skills in a task-agnostic text-based environment.

Our goal is for robots to follow natural language instructions like "put the towel next to the microwave." But getting large amounts of labeled data, i.e. data that contains demonstrations of tasks labeled with the language instruction, is prohibitive. In contrast, obtaining policies that respond to image goals is much easier, because any autonomous trial or demonstration can be labeled in hindsight with its final state as the goal. In this work, we contribute a method that taps into joint image- and goal- conditioned policies with language using only a small amount of language data. Prior work has made progress on this using vision-language models or by jointly training language-goal-conditioned policies, but so far neither method has scaled effectively to real-world robot tasks without significant human annotation. Our method achieves robust performance in the real world by learning an embedding from the labeled data that aligns language not to the goal image, but rather to the desired change between the start and goal images that the instruction corresponds to. We then train a policy on this embedding: the policy benefits from all the unlabeled data, but the aligned embedding provides an interface for language to steer the policy. We show instruction following across a variety of manipulation tasks in different scenes, with generalization to language instructions outside of the labeled data. Videos and code for our approach can be found on our website: http://tiny.cc/grif .

Unsupervised goal-conditioned reinforcement learning (GCRL) is a promising paradigm for developing diverse robotic skills without external supervision. However, existing unsupervised GCRL methods often struggle to cover a wide range of states in complex environments due to their limited exploration and sparse or noisy rewards for GCRL. To overcome these challenges, we propose a novel unsupervised GCRL method that leverages TemporaL Distance-aware Representations (TLDR). TLDR selects faraway goals to initiate exploration and computes intrinsic exploration rewards and goal-reaching rewards, based on temporal distance. Specifically, our exploration policy seeks states with large temporal distances (i.e. covering a large state space), while the goal-conditioned policy learns to minimize the temporal distance to the goal (i.e. reaching the goal). Our experimental results in six simulated robotic locomotion environments demonstrate that our method significantly outperforms previous unsupervised GCRL methods in achieving a wide variety of states.

User simulators are essential to conversational AI, enabling scalable agent development and evaluation through simulated interactions. While current Large Language Models (LLMs) have advanced user simulation capabilities, we reveal that they struggle to consistently demonstrate goal-oriented behavior across multi-turn conversations--a critical limitation that compromises their reliability in downstream applications. We introduce User Goal State Tracking (UGST), a novel framework that tracks user goal progression throughout conversations. Leveraging UGST, we present a three-stage methodology for developing user simulators that can autonomously track goal progression and reason to generate goal-aligned responses. Moreover, we establish comprehensive evaluation metrics for measuring goal alignment in user simulators, and demonstrate that our approach yields substantial improvements across two benchmarks (MultiWOZ 2.4 and {\tau}-Bench). Our contributions address a critical gap in conversational AI and establish UGST as an essential framework for developing goal-aligned user simulators.

In this paper, we propose a general framework for universal zero-shot goal-oriented navigation. Existing zero-shot methods build inference framework upon large language models (LLM) for specific tasks, which differs a lot in overall pipeline and fails to generalize across different types of goal. Towards the aim of universal zero-shot navigation, we propose a uniform graph representation to unify different goals, including object category, instance image and text description. We also convert the observation of agent into an online maintained scene graph. With this consistent scene and goal representation, we preserve most structural information compared with pure text and are able to leverage LLM for explicit graph-based reasoning. Specifically, we conduct graph matching between the scene graph and goal graph at each time instant and propose different strategies to generate long-term goal of exploration according to different matching states. The agent first iteratively searches subgraph of goal when zero-matched. With partial matching, the agent then utilizes coordinate projection and anchor pair alignment to infer the goal location. Finally scene graph correction and goal verification are applied for perfect matching. We also present a blacklist mechanism to enable robust switch between stages. Extensive experiments on several benchmarks show that our UniGoal achieves state-of-the-art zero-shot performance on three studied navigation tasks with a single model, even outperforming task-specific zero-shot methods and supervised universal methods.

We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized at a random location and pose in an environment and asked to find an instance of an object category, e.g., find a chair, by navigating to it. As the community begins to show increased interest in semantic goal specification for navigation tasks, a number of different often-inconsistent interpretations of this task are emerging. This document summarizes the consensus recommendations of this working group on ObjectNav. In particular, we make recommendations on subtle but important details of evaluation criteria (for measuring success when navigating towards a target object), the agent's embodiment parameters, and the characteristics of the environments within which the task is carried out. Finally, we provide a detailed description of the instantiation of these recommendations in challenges organized at the Embodied AI workshop at CVPR 2020 http://embodied-ai.org .

As multi-turn dialogues with large language models (LLMs) grow longer and more complex, how can users better evaluate and review progress on their conversational goals? We present OnGoal, an LLM chat interface that helps users better manage goal progress. OnGoal provides real-time feedback on goal alignment through LLM-assisted evaluation, explanations for evaluation results with examples, and overviews of goal progression over time, enabling users to navigate complex dialogues more effectively. Through a study with 20 participants on a writing task, we evaluate OnGoal against a baseline chat interface without goal tracking. Using OnGoal, participants spent less time and effort to achieve their goals while exploring new prompting strategies to overcome miscommunication, suggesting tracking and visualizing goals can enhance engagement and resilience in LLM dialogues. Our findings inspired design implications for future LLM chat interfaces that improve goal communication, reduce cognitive load, enhance interactivity, and enable feedback to improve LLM performance.

State-of-the-art large language models (LLMs) exhibit impressive problem-solving capabilities but may struggle with complex reasoning and factual correctness. Existing methods harness the strengths of chain-of-thought and retrieval-augmented generation (RAG) to decompose a complex problem into simpler steps and apply retrieval to improve factual correctness. These methods work well on straightforward reasoning tasks but often falter on challenging tasks such as competitive programming and mathematics, due to frequent reasoning errors and irrelevant knowledge retrieval. To address this, we introduce Critic-guided planning with Retrieval-augmentation, CR-Planner, a novel framework that leverages fine-tuned critic models to guide both reasoning and retrieval processes through planning. CR-Planner solves a problem by iteratively selecting and executing sub-goals. Initially, it identifies the most promising sub-goal from reasoning, query generation, and retrieval, guided by rewards given by a critic model named sub-goal critic. It then executes this sub-goal through sampling and selecting the optimal output based on evaluations from another critic model named execution critic. This iterative process, informed by retrieved information and critic models, enables CR-Planner to effectively navigate the solution space towards the final answer. We employ Monte Carlo Tree Search to collect the data for training the critic models, allowing for a systematic exploration of action sequences and their long-term impacts. We validate CR-Planner on challenging domain-knowledge-intensive and reasoning-heavy tasks, including competitive programming, theorem-driven math reasoning, and complex domain retrieval problems. Our experiments demonstrate that CR-Planner significantly outperforms baselines, highlighting its effectiveness in addressing challenging problems by improving both reasoning and retrieval.

One long-term goal of machine learning research is to produce methods that are applicable to reasoning and natural language, in particular building an intelligent dialogue agent. To measure progress towards that goal, we argue for the usefulness of a set of proxy tasks that evaluate reading comprehension via question answering. Our tasks measure understanding in several ways: whether a system is able to answer questions via chaining facts, simple induction, deduction and many more. The tasks are designed to be prerequisites for any system that aims to be capable of conversing with a human. We believe many existing learning systems can currently not solve them, and hence our aim is to classify these tasks into skill sets, so that researchers can identify (and then rectify) the failings of their systems. We also extend and improve the recently introduced Memory Networks model, and show it is able to solve some, but not all, of the tasks.

Big models, exemplified by Large Language Models (LLMs), are models typically pre-trained on massive data and comprised of enormous parameters, which not only obtain significantly improved performance across diverse tasks but also present emergent capabilities absent in smaller models. However, the growing intertwining of big models with everyday human lives poses potential risks and might cause serious social harm. Therefore, many efforts have been made to align LLMs with humans to make them better follow user instructions and satisfy human preferences. Nevertheless, `what to align with' has not been fully discussed, and inappropriate alignment goals might even backfire. In this paper, we conduct a comprehensive survey of different alignment goals in existing work and trace their evolution paths to help identify the most essential goal. Particularly, we investigate related works from two perspectives: the definition of alignment goals and alignment evaluation. Our analysis encompasses three distinct levels of alignment goals and reveals a goal transformation from fundamental abilities to value orientation, indicating the potential of intrinsic human values as the alignment goal for enhanced LLMs. Based on such results, we further discuss the challenges of achieving such intrinsic value alignment and provide a collection of available resources for future research on the alignment of big models.

Natural language and images are commonly used as goal representations in goal-conditioned imitation learning (IL). However, natural language can be ambiguous and images can be over-specified. In this work, we propose hand-drawn sketches as a modality for goal specification in visual imitation learning. Sketches are easy for users to provide on the fly like language, but similar to images they can also help a downstream policy to be spatially-aware and even go beyond images to disambiguate task-relevant from task-irrelevant objects. We present RT-Sketch, a goal-conditioned policy for manipulation that takes a hand-drawn sketch of the desired scene as input, and outputs actions. We train RT-Sketch on a dataset of paired trajectories and corresponding synthetically generated goal sketches. We evaluate this approach on six manipulation skills involving tabletop object rearrangements on an articulated countertop. Experimentally we find that RT-Sketch is able to perform on a similar level to image or language-conditioned agents in straightforward settings, while achieving greater robustness when language goals are ambiguous or visual distractors are present. Additionally, we show that RT-Sketch has the capacity to interpret and act upon sketches with varied levels of specificity, ranging from minimal line drawings to detailed, colored drawings. For supplementary material and videos, please refer to our website: http://rt-sketch.github.io.

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work has also shown that LLMs are unable to perform accurate reasoning nor solve planning problems, which may limit their usefulness for robotics-related tasks. In this work, our central question is whether LLMs are able to translate goals specified in natural language to a structured planning language. If so, LLM can act as a natural interface between the planner and human users; the translated goal can be handed to domain-independent AI planners that are very effective at planning. Our empirical results on GPT 3.5 variants show that LLMs are much better suited towards translation rather than planning. We find that LLMs are able to leverage commonsense knowledge and reasoning to furnish missing details from under-specified goals (as is often the case in natural language). However, our experiments also reveal that LLMs can fail to generate goals in tasks that involve numerical or physical (e.g., spatial) reasoning, and that LLMs are sensitive to the prompts used. As such, these models are promising for translation to structured planning languages, but care should be taken in their use.

We propose a goal-driven web navigation as a benchmark task for evaluating an agent with abilities to understand natural language and plan on partially observed environments. In this challenging task, an agent navigates through a website, which is represented as a graph consisting of web pages as nodes and hyperlinks as directed edges, to find a web page in which a query appears. The agent is required to have sophisticated high-level reasoning based on natural languages and efficient sequential decision-making capability to succeed. We release a software tool, called WebNav, that automatically transforms a website into this goal-driven web navigation task, and as an example, we make WikiNav, a dataset constructed from the English Wikipedia. We extensively evaluate different variants of neural net based artificial agents on WikiNav and observe that the proposed goal-driven web navigation well reflects the advances in models, making it a suitable benchmark for evaluating future progress. Furthermore, we extend the WikiNav with question-answer pairs from Jeopardy! and test the proposed agent based on recurrent neural networks against strong inverted index based search engines. The artificial agents trained on WikiNav outperforms the engined based approaches, demonstrating the capability of the proposed goal-driven navigation as a good proxy for measuring the progress in real-world tasks such as focused crawling and question-answering.

Recent work has demonstrated the effectiveness of formulating decision making as a supervised learning problem on offline-collected trajectories. However, the benefits of performing sequence modeling on trajectory data is not yet clear. In this work we investigate if sequence modeling has the capability to condense trajectories into useful representations that can contribute to policy learning. To achieve this, we adopt a two-stage framework that first summarizes trajectories with sequence modeling techniques, and then employs these representations to learn a policy along with a desired goal. This design allows many existing supervised offline RL methods to be considered as specific instances of our framework. Within this framework, we introduce Goal-Conditioned Predicitve Coding (GCPC), an approach that brings powerful trajectory representations and leads to performant policies. We conduct extensive empirical evaluations on AntMaze, FrankaKitchen and Locomotion environments, and observe that sequence modeling has a significant impact on some decision making tasks. In addition, we demonstrate that GCPC learns a goal-conditioned latent representation about the future, which serves as an "implicit planner", and enables competitive performance on all three benchmarks.

Humans generally use natural language to communicate task requirements to each other. Ideally, natural language should also be usable for communicating goals to autonomous machines (e.g., robots) to minimize friction in task specification. However, understanding and mapping natural language goals to sequences of states and actions is challenging. Specifically, existing work along these lines has encountered difficulty in generalizing learned policies to new natural language goals and environments. In this paper, we propose a novel adversarial inverse reinforcement learning algorithm to learn a language-conditioned policy and reward function. To improve generalization of the learned policy and reward function, we use a variational goal generator to relabel trajectories and sample diverse goals during training. Our algorithm outperforms multiple baselines by a large margin on a vision-based natural language instruction following dataset (Room-2-Room), demonstrating a promising advance in enabling the use of natural language instructions in specifying agent goals.

Can we better anticipate an actor's future actions (e.g. mix eggs) by knowing what commonly happens after his/her current action (e.g. crack eggs)? What if we also know the longer-term goal of the actor (e.g. making egg fried rice)? The long-term action anticipation (LTA) task aims to predict an actor's future behavior from video observations in the form of verb and noun sequences, and it is crucial for human-machine interaction. We propose to formulate the LTA task from two perspectives: a bottom-up approach that predicts the next actions autoregressively by modeling temporal dynamics; and a top-down approach that infers the goal of the actor and plans the needed procedure to accomplish the goal. We hypothesize that large language models (LLMs), which have been pretrained on procedure text data (e.g. recipes, how-tos), have the potential to help LTA from both perspectives. It can help provide the prior knowledge on the possible next actions, and infer the goal given the observed part of a procedure, respectively. To leverage the LLMs, we propose a two-stage framework, AntGPT. It first recognizes the actions already performed in the observed videos and then asks an LLM to predict the future actions via conditioned generation, or to infer the goal and plan the whole procedure by chain-of-thought prompting. Empirical results on the Ego4D LTA v1 and v2 benchmarks, EPIC-Kitchens-55, as well as EGTEA GAZE+ demonstrate the effectiveness of our proposed approach. AntGPT achieves state-of-the-art performance on all above benchmarks, and can successfully infer the goal and thus perform goal-conditioned "counterfactual" prediction via qualitative analysis. Code and model will be released at https://brown-palm.github.io/AntGPT

An elusive goal in navigation research is to build an intelligent agent that can understand multimodal instructions including natural language and image, and perform useful navigation. To achieve this, we study a widely useful category of navigation tasks we call Multimodal Instruction Navigation with demonstration Tours (MINT), in which the environment prior is provided through a previously recorded demonstration video. Recent advances in Vision Language Models (VLMs) have shown a promising path in achieving this goal as it demonstrates capabilities in perceiving and reasoning about multimodal inputs. However, VLMs are typically trained to predict textual output and it is an open research question about how to best utilize them in navigation. To solve MINT, we present Mobility VLA, a hierarchical Vision-Language-Action (VLA) navigation policy that combines the environment understanding and common sense reasoning power of long-context VLMs and a robust low-level navigation policy based on topological graphs. The high-level policy consists of a long-context VLM that takes the demonstration tour video and the multimodal user instruction as input to find the goal frame in the tour video. Next, a low-level policy uses the goal frame and an offline constructed topological graph to generate robot actions at every timestep. We evaluated Mobility VLA in a 836m^2 real world environment and show that Mobility VLA has a high end-to-end success rates on previously unsolved multimodal instructions such as "Where should I return this?" while holding a plastic bin.

A goal of artificial intelligence is to construct an agent that can solve a wide variety of tasks. Recent progress in text-guided image synthesis has yielded models with an impressive ability to generate complex novel images, exhibiting combinatorial generalization across domains. Motivated by this success, we investigate whether such tools can be used to construct more general-purpose agents. Specifically, we cast the sequential decision making problem as a text-conditioned video generation problem, where, given a text-encoded specification of a desired goal, a planner synthesizes a set of future frames depicting its planned actions in the future, after which control actions are extracted from the generated video. By leveraging text as the underlying goal specification, we are able to naturally and combinatorially generalize to novel goals. The proposed policy-as-video formulation can further represent environments with different state and action spaces in a unified space of images, which, for example, enables learning and generalization across a variety of robot manipulation tasks. Finally, by leveraging pretrained language embeddings and widely available videos from the internet, the approach enables knowledge transfer through predicting highly realistic video plans for real robots.

While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a unified 3D spatial map representation for storing cross-modal information from audio, visual, and language cues. AVLMaps integrate the open-vocabulary capabilities of multimodal foundation models pre-trained on Internet-scale data by fusing their features into a centralized 3D voxel grid. In the context of navigation, we show that AVLMaps enable robot systems to index goals in the map based on multimodal queries, e.g., textual descriptions, images, or audio snippets of landmarks. In particular, the addition of audio information enables robots to more reliably disambiguate goal locations. Extensive experiments in simulation show that AVLMaps enable zero-shot multimodal goal navigation from multimodal prompts and provide 50% better recall in ambiguous scenarios. These capabilities extend to mobile robots in the real world - navigating to landmarks referring to visual, audio, and spatial concepts. Videos and code are available at: https://avlmaps.github.io.

In recent years, vision-language research has shifted to study tasks which require more complex reasoning, such as interactive question answering, visual common sense reasoning, and question-answer plausibility prediction. However, the datasets used for these problems fail to capture the complexity of real inputs and multimodal environments, such as ambiguous natural language requests and diverse digital domains. We introduce Mobile app Tasks with Iterative Feedback (MoTIF), a dataset with natural language commands for the greatest number of interactive environments to date. MoTIF is the first to contain natural language requests for interactive environments that are not satisfiable, and we obtain follow-up questions on this subset to enable research on task uncertainty resolution. We perform initial feasibility classification experiments and only reach an F1 score of 37.3, verifying the need for richer vision-language representations and improved architectures to reason about task feasibility.

The Natural Language for Optimization (NL4Opt) Competition was created to investigate methods of extracting the meaning and formulation of an optimization problem based on its text description. Specifically, the goal of the competition is to increase the accessibility and usability of optimization solvers by allowing non-experts to interface with them using natural language. We separate this challenging goal into two sub-tasks: (1) recognize and label the semantic entities that correspond to the components of the optimization problem; (2) generate a meaning representation (i.e., a logical form) of the problem from its detected problem entities. The first task aims to reduce ambiguity by detecting and tagging the entities of the optimization problems. The second task creates an intermediate representation of the linear programming (LP) problem that is converted into a format that can be used by commercial solvers. In this report, we present the LP word problem dataset and shared tasks for the NeurIPS 2022 competition. Furthermore, we investigate and compare the performance of the ChatGPT large language model against the winning solutions. Through this competition, we hope to bring interest towards the development of novel machine learning applications and datasets for optimization modeling.

Despite advances in large language models (LLMs) on reasoning and instruction-following benchmarks, it remains unclear whether they can reliably produce outputs aligned with a broad variety of user goals, a concept we refer to as steerability. The abundance of methods proposed to modify LLM behavior makes it unclear whether current LLMs are already steerable, or require further intervention. In particular, LLMs may exhibit (i) poor coverage, where rare user goals are underrepresented; (ii) miscalibration, where models overshoot requests; and (iii) side effects, where changes to one dimension of text inadvertently affect others. To systematically evaluate these failures, we introduce a framework based on a multi-dimensional goal space that models user goals and LLM outputs as vectors with dimensions corresponding to text attributes (e.g., reading difficulty). Applied to a text-rewriting task, we find that current LLMs struggle with steerability, as side effects are persistent. Interventions to improve steerability, such as prompt engineering, best-of-N sampling, and reinforcement learning fine-tuning, have varying effectiveness, yet side effects remain problematic. Our findings suggest that even strong LLMs struggle with steerability, and existing alignment strategies may be insufficient. We open-source our steerability evaluation framework at https://github.com/MLD3/steerability.

Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic instructions. A natural goal in Vision Language Navigation (VLN) research is to impart autonomous agents with similar capabilities. Recent works take a step towards this goal by creating a semantic spatial map representation of the environment without any labeled data. However, their representations are limited for practical applicability as they do not distinguish between different instances of the same object. In this work, we address this limitation by integrating instance-level information into spatial map representation using a community detection algorithm and utilizing word ontology learned by large language models (LLMs) to perform open-set semantic associations in the mapping representation. The resulting map representation improves the navigation performance by two-fold (233%) on realistic language commands with instance-specific descriptions compared to the baseline. We validate the practicality and effectiveness of our approach through extensive qualitative and quantitative experiments.

Techniques that learn improved representations via offline data or self-supervised objectives have shown impressive results in traditional reinforcement learning (RL). Nevertheless, it is unclear how improved representation learning can benefit reinforcement learning from human feedback (RLHF) on language models (LMs). In this work, we propose training reward models (RMs) in a contrastive, goal-conditioned fashion by increasing the representation similarity of future states along sampled preferred trajectories and decreasing the similarity along randomly sampled dispreferred trajectories. This objective significantly improves RM performance by up to 0.09 AUROC across challenging benchmarks, such as MATH and GSM8k. These findings extend to general alignment as well -- on the Helpful-Harmless dataset, we observe 2.3% increase in accuracy. Beyond improving reward model performance, we show this way of training RM representations enables improved steerability because it allows us to evaluate the likelihood of an action achieving a particular goal-state (e.g., whether a solution is correct or helpful). Leveraging this insight, we find that we can filter up to 55% of generated tokens during majority voting by discarding trajectories likely to end up in an "incorrect" state, which leads to significant cost savings. We additionally find that these representations can perform fine-grained control by conditioning on desired future goal-states. For example, we show that steering a Llama 3 model towards helpful generations with our approach improves helpfulness by 9.6% over a supervised-fine-tuning trained baseline. Similarly, steering the model towards complex generations improves complexity by 21.6% over the baseline. Overall, we find that training RMs in this contrastive, goal-conditioned fashion significantly improves performance and enables model steerability.

The last decade has seen a significant increase of interest in deep learning research, with many public successes that have demonstrated its potential. As such, these systems are now being incorporated into commercial products. With this comes an additional challenge: how can we build AI systems that solve tasks where there is not a crisp, well-defined specification? While multiple solutions have been proposed, in this competition we focus on one in particular: learning from human feedback. Rather than training AI systems using a predefined reward function or using a labeled dataset with a predefined set of categories, we instead train the AI system using a learning signal derived from some form of human feedback, which can evolve over time as the understanding of the task changes, or as the capabilities of the AI system improve. The MineRL BASALT competition aims to spur forward research on this important class of techniques. We design a suite of four tasks in Minecraft for which we expect it will be hard to write down hardcoded reward functions. These tasks are defined by a paragraph of natural language: for example, "create a waterfall and take a scenic picture of it", with additional clarifying details. Participants must train a separate agent for each task, using any method they want. Agents are then evaluated by humans who have read the task description. To help participants get started, we provide a dataset of human demonstrations on each of the four tasks, as well as an imitation learning baseline that leverages these demonstrations. Our hope is that this competition will improve our ability to build AI systems that do what their designers intend them to do, even when the intent cannot be easily formalized. Besides allowing AI to solve more tasks, this can also enable more effective regulation of AI systems, as well as making progress on the value alignment problem.

We present the results of the NeurIPS 2023 Neural MMO Competition, which attracted over 200 participants and submissions. Participants trained goal-conditional policies that generalize to tasks, maps, and opponents never seen during training. The top solution achieved a score 4x higher than our baseline within 8 hours of training on a single 4090 GPU. We open-source everything relating to Neural MMO and the competition under the MIT license, including the policy weights and training code for our baseline and for the top submissions.

Open-ended learning benefits immensely from the use of symbolic methods for goal representation as they offer ways to structure knowledge for efficient and transferable learning. However, the existing Hierarchical Reinforcement Learning (HRL) approaches relying on symbolic reasoning are often limited as they require a manual goal representation. The challenge in autonomously discovering a symbolic goal representation is that it must preserve critical information, such as the environment dynamics. In this paper, we propose a developmental mechanism for goal discovery via an emergent representation that abstracts (i.e., groups together) sets of environment states that have similar roles in the task. We introduce a Feudal HRL algorithm that concurrently learns both the goal representation and a hierarchical policy. The algorithm uses symbolic reachability analysis for neural networks to approximate the transition relation among sets of states and to refine the goal representation. We evaluate our approach on complex navigation tasks, showing the learned representation is interpretable, transferrable and results in data efficient learning.

Active perception, a crucial human capability, involves setting a goal based on the current understanding of the environment and performing actions to achieve that goal. Despite significant efforts in evaluating Multimodal Large Language Models (MLLMs), active perception has been largely overlooked. To address this gap, we propose a novel benchmark named ActiView to evaluate active perception in MLLMs. Since comprehensively assessing active perception is challenging, we focus on a specialized form of Visual Question Answering (VQA) that eases the evaluation yet challenging for existing MLLMs. Given an image, we restrict the perceptual field of a model, requiring it to actively zoom or shift its perceptual field based on reasoning to answer the question successfully. We conduct extensive evaluation over 27 models, including proprietary and open-source models, and observe that the ability to read and comprehend multiple images simultaneously plays a significant role in enabling active perception. Results reveal a significant gap in the active perception capability of MLLMs, indicating that this area deserves more attention. We hope that our benchmark could help develop methods for MLLMs to understand multimodal inputs in more natural and holistic ways.

We introduce Goal-Conditioned Visual Navigation Instruction Generation (GoViG), a new task that aims to autonomously generate precise and contextually coherent navigation instructions solely from egocentric visual observations of initial and goal states. Unlike conventional approaches that rely on structured inputs such as semantic annotations or environmental maps, GoViG exclusively leverages raw egocentric visual data, substantially improving its adaptability to unseen and unstructured environments. Our method addresses this task by decomposing it into two interconnected subtasks: (1) visual forecasting, which predicts intermediate visual states bridging the initial and goal views; and (2) instruction generation, which synthesizes linguistically coherent instructions grounded in both observed and anticipated visuals. These subtasks are integrated within an autoregressive multimodal large language model trained with tailored objectives to ensure spatial accuracy and linguistic clarity. Furthermore, we introduce two complementary multimodal reasoning strategies, one-pass and interleaved reasoning, to mimic incremental human cognitive processes during navigation. To evaluate our method, we propose the R2R-Goal dataset, combining diverse synthetic and real-world trajectories. Empirical results demonstrate significant improvements over state-of-the-art methods, achieving superior BLEU-4 and CIDEr scores along with robust cross-domain generalization.

This work introduces the Multimodal Diffusion Transformer (MDT), a novel diffusion policy framework, that excels at learning versatile behavior from multimodal goal specifications with few language annotations. MDT leverages a diffusion-based multimodal transformer backbone and two self-supervised auxiliary objectives to master long-horizon manipulation tasks based on multimodal goals. The vast majority of imitation learning methods only learn from individual goal modalities, e.g. either language or goal images. However, existing large-scale imitation learning datasets are only partially labeled with language annotations, which prohibits current methods from learning language conditioned behavior from these datasets. MDT addresses this challenge by introducing a latent goal-conditioned state representation that is simultaneously trained on multimodal goal instructions. This state representation aligns image and language based goal embeddings and encodes sufficient information to predict future states. The representation is trained via two self-supervised auxiliary objectives, enhancing the performance of the presented transformer backbone. MDT shows exceptional performance on 164 tasks provided by the challenging CALVIN and LIBERO benchmarks, including a LIBERO version that contains less than 2% language annotations. Furthermore, MDT establishes a new record on the CALVIN manipulation challenge, demonstrating an absolute performance improvement of 15% over prior state-of-the-art methods that require large-scale pretraining and contain 10times more learnable parameters. MDT shows its ability to solve long-horizon manipulation from sparsely annotated data in both simulated and real-world environments. Demonstrations and Code are available at https://intuitive-robots.github.io/mdt_policy/.

The main challenge in vision-and-language navigation (VLN) is how to understand natural-language instructions in an unseen environment. The main limitation of conventional VLN algorithms is that if an action is mistaken, the agent fails to follow the instructions or explores unnecessary regions, leading the agent to an irrecoverable path. To tackle this problem, we propose Meta-Explore, a hierarchical navigation method deploying an exploitation policy to correct misled recent actions. We show that an exploitation policy, which moves the agent toward a well-chosen local goal among unvisited but observable states, outperforms a method which moves the agent to a previously visited state. We also highlight the demand for imagining regretful explorations with semantically meaningful clues. The key to our approach is understanding the object placements around the agent in spectral-domain. Specifically, we present a novel visual representation, called scene object spectrum (SOS), which performs category-wise 2D Fourier transform of detected objects. Combining exploitation policy and SOS features, the agent can correct its path by choosing a promising local goal. We evaluate our method in three VLN benchmarks: R2R, SOON, and REVERIE. Meta-Explore outperforms other baselines and shows significant generalization performance. In addition, local goal search using the proposed spectral-domain SOS features significantly improves the success rate by 17.1% and SPL by 20.6% for the SOON benchmark.

This brief technical report describes our submission to the Action Spotting SoccerNet Challenge 2022. The challenge was part of the CVPR 2022 ActivityNet Workshop. Our submission was based on a recently proposed method which focuses on increasing temporal precision via a densely sampled set of detection anchors. Due to its emphasis on temporal precision, this approach had shown significant improvements in the tight average-mAP metric. Tight average-mAP was used as the evaluation criterion for the challenge, and is defined using small temporal evaluation tolerances, thus being more sensitive to small temporal errors. In order to further improve results, here we introduce small changes in the pre- and post-processing steps, and also combine different input feature types via late fusion. These changes brought improvements that helped us achieve the first place in the challenge and also led to a new state-of-the-art on SoccerNet's test set when using the dataset's standard experimental protocol. This report briefly reviews the action spotting method based on dense detection anchors, then focuses on the modifications introduced for the challenge. We also describe the experimental protocols and training procedures we used, and finally present our results.

There is a growing interest in developing goal-oriented dialog systems which serve users in accomplishing complex tasks through multi-turn conversations. Although many methods are devised to evaluate and improve the performance of individual dialog components, there is a lack of comprehensive empirical study on how different components contribute to the overall performance of a dialog system. In this paper, we perform a system-wise evaluation and present an empirical analysis on different types of dialog systems which are composed of different modules in different settings. Our results show that (1) a pipeline dialog system trained using fine-grained supervision signals at different component levels often obtains better performance than the systems that use joint or end-to-end models trained on coarse-grained labels, (2) component-wise, single-turn evaluation results are not always consistent with the overall performance of a dialog system, and (3) despite the discrepancy between simulators and human users, simulated evaluation is still a valid alternative to the costly human evaluation especially in the early stage of development.

Proactive dialogue system is able to lead the conversation to a goal topic and has advantaged potential in bargain, persuasion and negotiation. Current corpus-based learning manner limits its practical application in real-world scenarios. To this end, we contribute to advance the study of the proactive dialogue policy to a more natural and challenging setting, i.e., interacting dynamically with users. Further, we call attention to the non-cooperative user behavior -- the user talks about off-path topics when he/she is not satisfied with the previous topics introduced by the agent. We argue that the targets of reaching the goal topic quickly and maintaining a high user satisfaction are not always converge, because the topics close to the goal and the topics user preferred may not be the same. Towards this issue, we propose a new solution named I-Pro that can learn Proactive policy in the Interactive setting. Specifically, we learn the trade-off via a learned goal weight, which consists of four factors (dialogue turn, goal completion difficulty, user satisfaction estimation, and cooperative degree). The experimental results demonstrate I-Pro significantly outperforms baselines in terms of effectiveness and interpretability.

Hierarchical Imitation Learning (HIL) is a promising approach for tackling long-horizon decision-making tasks. While it is a challenging task due to the lack of detailed supervisory labels for sub-goal learning, and reliance on hundreds to thousands of expert demonstrations. In this work, we introduce SEAL, a novel framework that leverages Large Language Models (LLMs)'s powerful semantic and world knowledge for both specifying sub-goal space and pre-labeling states to semantically meaningful sub-goal representations without prior knowledge of task hierarchies. SEAL employs a dual-encoder structure, combining supervised LLM-guided sub-goal learning with unsupervised Vector Quantization (VQ) for more robust sub-goal representations. Additionally, SEAL incorporates a transition-augmented low-level planner for improved adaptation to sub-goal transitions. Our experiments demonstrate that SEAL outperforms state-of-the-art HIL methods and LLM-based planning approaches, particularly in settings with small expert datasets and complex long-horizon tasks.

This paper investigates robot manipulation based on human instruction with ambiguous requests. The intent is to compensate for imperfect natural language via visual observations. Early symbolic methods, based on manually defined symbols, built modular framework consist of semantic parsing and task planning for producing sequences of actions from natural language requests. Modern connectionist methods employ deep neural networks to automatically learn visual and linguistic features and map to a sequence of low-level actions, in an endto-end fashion. These two approaches are blended to create a hybrid, modular framework: it formulates instruction following as symbolic goal learning via deep neural networks followed by task planning via symbolic planners. Connectionist and symbolic modules are bridged with Planning Domain Definition Language. The vision-and-language learning network predicts its goal representation, which is sent to a planner for producing a task-completing action sequence. For improving the flexibility of natural language, we further incorporate implicit human intents with explicit human instructions. To learn generic features for vision and language, we propose to separately pretrain vision and language encoders on scene graph parsing and semantic textual similarity tasks. Benchmarking evaluates the impacts of different components of, or options for, the vision-and-language learning model and shows the effectiveness of pretraining strategies. Manipulation experiments conducted in the simulator AI2THOR show the robustness of the framework to novel scenarios.

Building generalist agents that can accomplish many goals in rich open-ended environments is one of the research frontiers for reinforcement learning. A key limiting factor for building generalist agents with RL has been the need for a large number of reward functions for achieving different goals. We investigate the feasibility of using off-the-shelf vision-language models, or VLMs, as sources of rewards for reinforcement learning agents. We show how rewards for visual achievement of a variety of language goals can be derived from the CLIP family of models, and used to train RL agents that can achieve a variety of language goals. We showcase this approach in two distinct visual domains and present a scaling trend showing how larger VLMs lead to more accurate rewards for visual goal achievement, which in turn produces more capable RL agents.

Readers can have different goals with respect to the text they are reading. Can these goals be decoded from the pattern of their eye movements over the text? In this work, we examine for the first time whether it is possible to decode two types of reading goals that are common in daily life: information seeking and ordinary reading. Using large scale eye-tracking data, we apply to this task a wide range of state-of-the-art models for eye movements and text that cover different architectural and data representation strategies, and further introduce a new model ensemble. We systematically evaluate these models at three levels of generalization: new textual item, new participant, and the combination of both. We find that eye movements contain highly valuable signals for this task. We further perform an error analysis which builds on prior empirical findings on differences between ordinary reading and information seeking and leverages rich textual annotations. This analysis reveals key properties of textual items and participant eye movements that contribute to the difficulty of the task.

A visually-grounded navigation instruction can be interpreted as a sequence of expected observations and actions an agent following the correct trajectory would encounter and perform. Based on this intuition, we formulate the problem of finding the goal location in Vision-and-Language Navigation (VLN) within the framework of Bayesian state tracking - learning observation and motion models conditioned on these expectable events. Together with a mapper that constructs a semantic spatial map on-the-fly during navigation, we formulate an end-to-end differentiable Bayes filter and train it to identify the goal by predicting the most likely trajectory through the map according to the instructions. The resulting navigation policy constitutes a new approach to instruction following that explicitly models a probability distribution over states, encoding strong geometric and algorithmic priors while enabling greater explainability. Our experiments show that our approach outperforms a strong LingUNet baseline when predicting the goal location on the map. On the full VLN task, i.e. navigating to the goal location, our approach achieves promising results with less reliance on navigation constraints.

Effective planning is essential for the success of any task, from organizing a vacation to routing autonomous vehicles and developing corporate strategies. It involves setting goals, formulating plans, and allocating resources to achieve them. LLMs are particularly well-suited for automated planning due to their strong capabilities in commonsense reasoning. They can deduce a sequence of actions needed to achieve a goal from a given state and identify an effective course of action. However, it is frequently observed that plans generated through direct prompting often fail upon execution. Our survey aims to highlight the existing challenges in planning with language models, focusing on key areas such as embodied environments, optimal scheduling, competitive and cooperative games, task decomposition, reasoning, and planning. Through this study, we explore how LLMs transform AI planning and provide unique insights into the future of LM-assisted planning.

Following human instructions to explore and search for a specified target in an unfamiliar environment is a crucial skill for mobile service robots. Most of the previous works on object goal navigation have typically focused on a single input modality as the target, which may lead to limited consideration of language descriptions containing detailed attributes and spatial relationships. To address this limitation, we propose VLN-Game, a novel zero-shot framework for visual target navigation that can process object names and descriptive language targets effectively. To be more precise, our approach constructs a 3D object-centric spatial map by integrating pre-trained visual-language features with a 3D reconstruction of the physical environment. Then, the framework identifies the most promising areas to explore in search of potential target candidates. A game-theoretic vision language model is employed to determine which target best matches the given language description. Experiments conducted on the Habitat-Matterport 3D (HM3D) dataset demonstrate that the proposed framework achieves state-of-the-art performance in both object goal navigation and language-based navigation tasks. Moreover, we show that VLN-Game can be easily deployed on real-world robots. The success of VLN-Game highlights the promising potential of using game-theoretic methods with compact vision-language models to advance decision-making capabilities in robotic systems. The supplementary video and code can be accessed via the following link: https://sites.google.com/view/vln-game.

Hierarchical reinforcement learning has been a compelling approach for achieving goal directed behavior over long sequences of actions. However, it has been challenging to implement in realistic or open-ended environments. A main challenge has been to find the right space of sub-goals over which to instantiate a hierarchy. We present a novel approach where we use data from humans solving these tasks to softly supervise the goal space for a set of long range tasks in a 3D embodied environment. In particular, we use unconstrained natural language to parameterize this space. This has two advantages: first, it is easy to generate this data from naive human participants; second, it is flexible enough to represent a vast range of sub-goals in human-relevant tasks. Our approach outperforms agents that clone expert behavior on these tasks, as well as HRL from scratch without this supervised sub-goal space. Our work presents a novel approach to combining human expert supervision with the benefits and flexibility of reinforcement learning.

A central goal of machine learning is the development of systems that can solve many problems in as many data domains as possible. Current architectures, however, cannot be applied beyond a small set of stereotyped settings, as they bake in domain & task assumptions or scale poorly to large inputs or outputs. In this work, we propose Perceiver IO, a general-purpose architecture that handles data from arbitrary settings while scaling linearly with the size of inputs and outputs. Our model augments the Perceiver with a flexible querying mechanism that enables outputs of various sizes and semantics, doing away with the need for task-specific architecture engineering. The same architecture achieves strong results on tasks spanning natural language and visual understanding, multi-task and multi-modal reasoning, and StarCraft II. As highlights, Perceiver IO outperforms a Transformer-based BERT baseline on the GLUE language benchmark despite removing input tokenization and achieves state-of-the-art performance on Sintel optical flow estimation with no explicit mechanisms for multiscale correspondence.

The AI community has been pursuing algorithms known as artificial general intelligence (AGI) that apply to any kind of real-world problem. Recently, chat systems powered by large language models (LLMs) emerge and rapidly become a promising direction to achieve AGI in natural language processing (NLP), but the path towards AGI in computer vision (CV) remains unclear. One may owe the dilemma to the fact that visual signals are more complex than language signals, yet we are interested in finding concrete reasons, as well as absorbing experiences from GPT and LLMs to solve the problem. In this paper, we start with a conceptual definition of AGI and briefly review how NLP solves a wide range of tasks via a chat system. The analysis inspires us that unification is the next important goal of CV. But, despite various efforts in this direction, CV is still far from a system like GPT that naturally integrates all tasks. We point out that the essential weakness of CV lies in lacking a paradigm to learn from environments, yet NLP has accomplished the task in the text world. We then imagine a pipeline that puts a CV algorithm (i.e., an agent) in world-scale, interactable environments, pre-trains it to predict future frames with respect to its action, and then fine-tunes it with instruction to accomplish various tasks. We expect substantial research and engineering efforts to push the idea forward and scale it up, for which we share our perspectives on future research directions.

A long-term goal of machine learning is to build intelligent conversational agents. One recent popular approach is to train end-to-end models on a large amount of real dialog transcripts between humans (Sordoni et al., 2015; Vinyals & Le, 2015; Shang et al., 2015). However, this approach leaves many questions unanswered as an understanding of the precise successes and shortcomings of each model is hard to assess. A contrasting recent proposal are the bAbI tasks (Weston et al., 2015b) which are synthetic data that measure the ability of learning machines at various reasoning tasks over toy language. Unfortunately, those tests are very small and hence may encourage methods that do not scale. In this work, we propose a suite of new tasks of a much larger scale that attempt to bridge the gap between the two regimes. Choosing the domain of movies, we provide tasks that test the ability of models to answer factual questions (utilizing OMDB), provide personalization (utilizing MovieLens), carry short conversations about the two, and finally to perform on natural dialogs from Reddit. We provide a dataset covering 75k movie entities and with 3.5M training examples. We present results of various models on these tasks, and evaluate their performance.

Vision-language navigation (VLN), in which an agent follows language instruction in a visual environment, has been studied under the premise that the input command is fully feasible in the environment. Yet in practice, a request may not be possible due to language ambiguity or environment changes. To study VLN with unknown command feasibility, we introduce a new dataset Mobile app Tasks with Iterative Feedback (MoTIF), where the goal is to complete a natural language command in a mobile app. Mobile apps provide a scalable domain to study real downstream uses of VLN methods. Moreover, mobile app commands provide instruction for interactive navigation, as they result in action sequences with state changes via clicking, typing, or swiping. MoTIF is the first to include feasibility annotations, containing both binary feasibility labels and fine-grained labels for why tasks are unsatisfiable. We further collect follow-up questions for ambiguous queries to enable research on task uncertainty resolution. Equipped with our dataset, we propose the new problem of feasibility prediction, in which a natural language instruction and multimodal app environment are used to predict command feasibility. MoTIF provides a more realistic app dataset as it contains many diverse environments, high-level goals, and longer action sequences than prior work. We evaluate interactive VLN methods using MoTIF, quantify the generalization ability of current approaches to new app environments, and measure the effect of task feasibility on navigation performance.

In everyday life, humans often plan their actions by following step-by-step instructions in the form of goal-oriented scripts. Previous work has exploited language models (LMs) to plan for abstract goals of stereotypical activities (e.g., "make a cake"), but leaves more specific goals with multi-facet constraints understudied (e.g., "make a cake for diabetics"). In this paper, we define the task of constrained language planning for the first time. We propose an overgenerate-then-filter approach to improve large language models (LLMs) on this task, and use it to distill a novel constrained language planning dataset, CoScript, which consists of 55,000 scripts. Empirical results demonstrate that our method significantly improves the constrained language planning ability of LLMs, especially on constraint faithfulness. Furthermore, CoScript is demonstrated to be quite effective in endowing smaller LMs with constrained language planning ability.

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural language into robot action sequences for complex tasks. However, existing approaches either translate the natural language directly into robot trajectories or factor the inference process by decomposing language into task sub-goals and relying on a motion planner to execute each sub-goal. When complex environmental and temporal constraints are involved, inference over planning tasks must be performed jointly with motion plans using traditional task-and-motion planning (TAMP) algorithms, making factorization into subgoals untenable. Rather than using LLMs to directly plan task sub-goals, we instead perform few-shot translation from natural language task descriptions to an intermediate task representation that can then be consumed by a TAMP algorithm to jointly solve the task and motion plan. To improve translation, we automatically detect and correct both syntactic and semantic errors via autoregressive re-prompting, resulting in significant improvements in task completion. We show that our approach outperforms several methods using LLMs as planners in complex task domains. See our project website https://yongchao98.github.io/MIT-REALM-AutoTAMP/ for prompts, videos, and code.

Robots' ability to follow language instructions and execute diverse 3D tasks is vital in robot learning. Traditional imitation learning-based methods perform well on seen tasks but struggle with novel, unseen ones due to variability. Recent approaches leverage large foundation models to assist in understanding novel tasks, thereby mitigating this issue. However, these methods lack a task-specific learning process, which is essential for an accurate understanding of 3D environments, often leading to execution failures. In this paper, we introduce GravMAD, a sub-goal-driven, language-conditioned action diffusion framework that combines the strengths of imitation learning and foundation models. Our approach breaks tasks into sub-goals based on language instructions, allowing auxiliary guidance during both training and inference. During training, we introduce Sub-goal Keypose Discovery to identify key sub-goals from demonstrations. Inference differs from training, as there are no demonstrations available, so we use pre-trained foundation models to bridge the gap and identify sub-goals for the current task. In both phases, GravMaps are generated from sub-goals, providing flexible 3D spatial guidance compared to fixed 3D positions. Empirical evaluations on RLBench show that GravMAD significantly outperforms state-of-the-art methods, with a 28.63% improvement on novel tasks and a 13.36% gain on tasks encountered during training. These results demonstrate GravMAD's strong multi-task learning and generalization in 3D manipulation. Video demonstrations are available at: https://gravmad.github.io.

Open-ended learning agents must efficiently prioritize goals in vast possibility spaces, focusing on those that maximize learning progress (LP). When such autotelic exploration is achieved by LLM agents trained with online RL in high-dimensional and evolving goal spaces, a key challenge for LP prediction is modeling one's own competence, a form of metacognitive monitoring. Traditional approaches either require extensive sampling or rely on brittle expert-defined goal groupings. We introduce MAGELLAN, a metacognitive framework that lets LLM agents learn to predict their competence and LP online. By capturing semantic relationships between goals, MAGELLAN enables sample-efficient LP estimation and dynamic adaptation to evolving goal spaces through generalization. In an interactive learning environment, we show that MAGELLAN improves LP prediction efficiency and goal prioritization, being the only method allowing the agent to fully master a large and evolving goal space. These results demonstrate how augmenting LLM agents with a metacognitive ability for LP predictions can effectively scale curriculum learning to open-ended goal spaces.

When artificial agents are jointly trained to perform collaborative tasks using a communication channel, they develop opaque goal-oriented communication protocols. Good task performance is often considered sufficient evidence that meaningful communication is taking place, but existing empirical results show that communication strategies induced by common objectives can be counterintuitive whilst solving the task nearly perfectly. In this work, we identify a goal-agnostic prerequisite to meaningful communication, which we term semantic consistency, based on the idea that messages should have similar meanings across instances. We provide a formal definition for this idea, and use it to compare the two most common objectives in the field of emergent communication: discrimination and reconstruction. We prove, under mild assumptions, that semantically inconsistent communication protocols can be optimal solutions to the discrimination task, but not to reconstruction. We further show that the reconstruction objective encourages a stricter property, spatial meaningfulness, which also accounts for the distance between messages. Experiments with emergent communication games validate our theoretical results. These findings demonstrate an inherent advantage of distance-based communication goals, and contextualize previous empirical discoveries.

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features into a single objective. If they try to do both at once from input designed to teach the full reward function, it is easy to end up with a representation that contains spurious correlations in the data, which fails to generalize to new settings. Instead, our ultimate goal is to enable robots to identify and isolate the causal features that people actually care about and use when they represent states and behavior. Our idea is that we can tune into this representation by asking users what behaviors they consider similar: behaviors will be similar if the features that matter are similar, even if low-level behavior is different; conversely, behaviors will be different if even one of the features that matter differs. This, in turn, is what enables the robot to disambiguate between what needs to go into the representation versus what is spurious, as well as what aspects of behavior can be compressed together versus not. The notion of learning representations based on similarity has a nice parallel in contrastive learning, a self-supervised representation learning technique that maps visually similar data points to similar embeddings, where similarity is defined by a designer through data augmentation heuristics. By contrast, in order to learn the representations that people use, so we can learn their preferences and objectives, we use their definition of similarity. In simulation as well as in a user study, we show that learning through such similarity queries leads to representations that, while far from perfect, are indeed more generalizable than self-supervised and task-input alternatives.

Enabling embodied agents to complete complex human instructions from natural language is crucial to autonomous systems in household services. Conventional methods can only accomplish human instructions in the known environment where all interactive objects are provided to the embodied agent, and directly deploying the existing approaches for the unknown environment usually generates infeasible plans that manipulate non-existing objects. On the contrary, we propose an embodied instruction following (EIF) method for complex tasks in the unknown environment, where the agent efficiently explores the unknown environment to generate feasible plans with existing objects to accomplish abstract instructions. Specifically, we build a hierarchical embodied instruction following framework including the high-level task planner and the low-level exploration controller with multimodal large language models. We then construct a semantic representation map of the scene with dynamic region attention to demonstrate the known visual clues, where the goal of task planning and scene exploration is aligned for human instruction. For the task planner, we generate the feasible step-by-step plans for human goal accomplishment according to the task completion process and the known visual clues. For the exploration controller, the optimal navigation or object interaction policy is predicted based on the generated step-wise plans and the known visual clues. The experimental results demonstrate that our method can achieve 45.09% success rate in 204 complex human instructions such as making breakfast and tidying rooms in large house-level scenes. Code and supplementary are available at https://gary3410.github.io/eif_unknown.

In multi-goal Reinforcement Learning, an agent can share experience between related training tasks, resulting in better generalization for new tasks at test time. However, when the goal space has discontinuities and the reward is sparse, a majority of goals are difficult to reach. In this context, a curriculum over goals helps agents learn by adapting training tasks to their current capabilities. In this work we propose Stein Variational Goal Generation (SVGG), which samples goals of intermediate difficulty for the agent, by leveraging a learned predictive model of its goal reaching capabilities. The distribution of goals is modeled with particles that are attracted in areas of appropriate difficulty using Stein Variational Gradient Descent. We show that SVGG outperforms state-of-the-art multi-goal Reinforcement Learning methods in terms of success coverage in hard exploration problems, and demonstrate that it is endowed with a useful recovery property when the environment changes.

We consider the two related problems of detecting if an example is misclassified or out-of-distribution. We present a simple baseline that utilizes probabilities from softmax distributions. Correctly classified examples tend to have greater maximum softmax probabilities than erroneously classified and out-of-distribution examples, allowing for their detection. We assess performance by defining several tasks in computer vision, natural language processing, and automatic speech recognition, showing the effectiveness of this baseline across all. We then show the baseline can sometimes be surpassed, demonstrating the room for future research on these underexplored detection tasks.

For sophisticated reinforcement learning (RL) systems to interact usefully with real-world environments, we need to communicate complex goals to these systems. In this work, we explore goals defined in terms of (non-expert) human preferences between pairs of trajectory segments. We show that this approach can effectively solve complex RL tasks without access to the reward function, including Atari games and simulated robot locomotion, while providing feedback on less than one percent of our agent's interactions with the environment. This reduces the cost of human oversight far enough that it can be practically applied to state-of-the-art RL systems. To demonstrate the flexibility of our approach, we show that we can successfully train complex novel behaviors with about an hour of human time. These behaviors and environments are considerably more complex than any that have been previously learned from human feedback.

We introduce Image-GOal Representations (IGOR), aiming to learn a unified, semantically consistent action space across human and various robots. Through this unified latent action space, IGOR enables knowledge transfer among large-scale robot and human activity data. We achieve this by compressing visual changes between an initial image and its goal state into latent actions. IGOR allows us to generate latent action labels for internet-scale video data. This unified latent action space enables the training of foundation policy and world models across a wide variety of tasks performed by both robots and humans. We demonstrate that: (1) IGOR learns a semantically consistent action space for both human and robots, characterizing various possible motions of objects representing the physical interaction knowledge; (2) IGOR can "migrate" the movements of the object in the one video to other videos, even across human and robots, by jointly using the latent action model and world model; (3) IGOR can learn to align latent actions with natural language through the foundation policy model, and integrate latent actions with a low-level policy model to achieve effective robot control. We believe IGOR opens new possibilities for human-to-robot knowledge transfer and control.

Recent availability of Large Language Models (LLMs) has led to the development of numerous LLM-based approaches aimed at providing natural language interfaces for various end-user tasks. These end-user tasks in turn can typically be accomplished by orchestrating a given set of APIs. In practice, natural language task requests (user queries) are often incomplete, i.e., they may not contain all the information required by the APIs. While LLMs excel at natural language processing (NLP) tasks, they frequently hallucinate on missing information or struggle with orchestrating the APIs. The key idea behind our proposed approach is to leverage logical reasoning and classical AI planning along with an LLM for accurately answering user queries including identification and gathering of any missing information in these queries. Our approach uses an LLM and ASP (Answer Set Programming) solver to translate a user query to a representation in Planning Domain Definition Language (PDDL) via an intermediate representation in ASP. We introduce a special API "get_info_api" for gathering missing information. We model all the APIs as PDDL actions in a way that supports dataflow between the APIs. Our approach then uses a classical AI planner to generate an orchestration of API calls (including calls to get_info_api) to answer the user query. Our evaluation results show that our approach significantly outperforms a pure LLM based approach by achieving over 95\% success rate in most cases on a dataset containing complete and incomplete single goal and multi-goal queries where the multi-goal queries may or may not require dataflow among the APIs.

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information for object-oriented exploration. On the other hand, end-to-end learning methods alleviate manual map design and predict actions using implicit representations. Such methods, however, lack an explicit notion of geometry and may have limited ability to encode navigation history. In this work, we propose an implicit spatial map for object goal navigation. Our implicit map is recursively updated with new observations at each step using a transformer. To encourage spatial reasoning, we introduce auxiliary tasks and train our model to reconstruct explicit maps as well as to predict visual features, semantic labels and actions. Our method significantly outperforms the state of the art on the challenging MP3D dataset and generalizes well to the HM3D dataset. We successfully deploy our model on a real robot and achieve encouraging object goal navigation results in real scenes using only a few real-world demonstrations. Code, trained models and videos are available at https://www.di.ens.fr/willow/research/onav_rim/.

Inspired by the curvature of space-time (Einstein, 1921), we introduce Curved Contrastive Learning (CCL), a novel representation learning technique for learning the relative turn distance between utterance pairs in multi-turn dialogues. The resulting bi-encoder models can guide transformers as a response ranking model towards a goal in a zero-shot fashion by projecting the goal utterance and the corresponding reply candidates into a latent space. Here the cosine similarity indicates the distance/reachability of a candidate utterance toward the corresponding goal. Furthermore, we explore how these forward-entailing language representations can be utilized for assessing the likelihood of sequences by the entailment strength i.e. through the cosine similarity of its individual members (encoded separately) as an emergent property in the curved space. These non-local properties allow us to imagine the likelihood of future patterns in dialogues, specifically by ordering/identifying future goal utterances that are multiple turns away, given a dialogue context. As part of our analysis, we investigate characteristics that make conversations (un)plannable and find strong evidence of planning capability over multiple turns (in 61.56% over 3 turns) in conversations from the DailyDialog (Li et al., 2017) dataset. Finally, we show how we achieve higher efficiency in sequence modeling tasks compared to previous work thanks to our relativistic approach, where only the last utterance needs to be encoded and computed during inference.

The vision of a broadly capable and goal-directed agent, such as an Internet-browsing agent in the digital world and a household humanoid in the physical world, has rapidly advanced, thanks to the generalization capability of foundation models. Such a generalist agent needs to have a large and diverse skill repertoire, such as finding directions between two travel locations and buying specific items from the Internet. If each skill needs to be specified manually through a fixed set of human-annotated instructions, the agent's skill repertoire will necessarily be limited due to the quantity and diversity of human-annotated instructions. In this work, we address this challenge by proposing Proposer-Agent-Evaluator, an effective learning system that enables foundation model agents to autonomously discover and practice skills in the wild. At the heart of PAE is a context-aware task proposer that autonomously proposes tasks for the agent to practice with context information of the environment such as user demos or even just the name of the website itself for Internet-browsing agents. Then, the agent policy attempts those tasks with thoughts and actual grounded operations in the real world with resulting trajectories evaluated by an autonomous VLM-based success evaluator. The success evaluation serves as the reward signal for the agent to refine its policies through RL. We validate PAE on challenging vision-based web navigation, using both real-world and self-hosted websites from WebVoyager and WebArena.To the best of our knowledge, this work represents the first effective learning system to apply autonomous task proposal with RL for agents that generalizes real-world human-annotated benchmarks with SOTA performances. Our open-source checkpoints and code can be found in https://yanqval.github.io/PAE/

Enabling a computer to understand a document so that it can answer comprehension questions is a central, yet unsolved goal of NLP. A key factor impeding its solution by machine learned systems is the limited availability of human-annotated data. Hermann et al. (2015) seek to solve this problem by creating over a million training examples by pairing CNN and Daily Mail news articles with their summarized bullet points, and show that a neural network can then be trained to give good performance on this task. In this paper, we conduct a thorough examination of this new reading comprehension task. Our primary aim is to understand what depth of language understanding is required to do well on this task. We approach this from one side by doing a careful hand-analysis of a small subset of the problems and from the other by showing that simple, carefully designed systems can obtain accuracies of 73.6% and 76.6% on these two datasets, exceeding current state-of-the-art results by 7-10% and approaching what we believe is the ceiling for performance on this task.

The recent trend in the Large Vision and Language model has brought a new change in how information extraction systems are built. VLMs have set a new benchmark with their State-of-the-art techniques in understanding documents and building question-answering systems across various industries. They are significantly better at generating text from document images and providing accurate answers to questions. However, there are still some challenges in effectively utilizing these models to build a precise conversational system. General prompting techniques used with large language models are often not suitable for these specially designed vision language models. The output generated by such generic input prompts is ordinary and may contain information gaps when compared with the actual content of the document. To obtain more accurate and specific answers, a well-targeted prompt is required by the vision language model, along with the document image. In this paper, a technique is discussed called Target prompting, which focuses on explicitly targeting parts of document images and generating related answers from those specific regions only. The paper also covers the evaluation of response for each prompting technique using different user queries and input prompts.

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous machines, such as robots, is a significant challenge: conventionally, reward functions and goal states have been used to communicate objectives. But people can communicate objectives to each other simply by describing or demonstrating them. How can we build learning algorithms that will allow us to tell machines what we want them to do? In this work, we investigate the problem of grounding language commands as reward functions using inverse reinforcement learning, and argue that language-conditioned rewards are more transferable than language-conditioned policies to new environments. We propose language-conditioned reward learning (LC-RL), which grounds language commands as a reward function represented by a deep neural network. We demonstrate that our model learns rewards that transfer to novel tasks and environments on realistic, high-dimensional visual environments with natural language commands, whereas directly learning a language-conditioned policy leads to poor performance.

The functionality of Large Language Model (LLM) agents is primarily determined by two capabilities: action planning and answer summarization. The former, action planning, is the core capability that dictates an agent's performance. However, prevailing training paradigms employ end-to-end, multi-objective optimization that jointly trains both capabilities. This paradigm faces two critical challenges: imbalanced optimization objective allocation and scarcity of verifiable data, making it difficult to enhance the agent's planning capability. To address these challenges, we propose Reinforcement Learning with Tool-use Rewards (RLTR), a novel framework that decouples the training process to enable a focused, single-objective optimization of the planning module. Crucially, RLTR introduces a reward signal based on tool-use completeness to directly evaluate the quality of tool invocation sequences. This method offers a more direct and reliable training signal than assessing the final response content, thereby obviating the need for verifiable data. Our experiments demonstrate that RLTR achieves an 8%-12% improvement in planning performance compared to end-to-end baselines. Moreover, this enhanced planning capability, in turn, translates to a 5%-6% increase in the final response quality of the overall agent system.

Smart home assistants function best when user commands are direct and well-specified (e.g., "turn on the kitchen light"), or when a hard-coded routine specifies the response. In more natural communication, however, human speech is unconstrained, often describing goals (e.g., "make it cozy in here" or "help me save energy") rather than indicating specific target devices and actions to take on those devices. Current systems fail to understand these under-specified commands since they cannot reason about devices and settings as they relate to human situations. We introduce large language models (LLMs) to this problem space, exploring their use for controlling devices and creating automation routines in response to under-specified user commands in smart homes. We empirically study the baseline quality and failure modes of LLM-created action plans with a survey of age-diverse users. We find that LLMs can reason creatively to achieve challenging goals, but they experience patterns of failure that diminish their usefulness. We address these gaps with Sasha, a smarter smart home assistant. Sasha responds to loosely-constrained commands like "make it cozy" or "help me sleep better" by executing plans to achieve user goals, e.g., setting a mood with available devices, or devising automation routines. We implement and evaluate Sasha in a hands-on user study, showing the capabilities and limitations of LLM-driven smart homes when faced with unconstrained user-generated scenarios.

Prior studies addressing target-oriented conversational tasks lack a crucial notion that has been intensively studied in the context of goal-oriented artificial intelligence agents, namely, planning. In this study, we propose the task of Target-Guided Open-Domain Conversation Planning (TGCP) task to evaluate whether neural conversational agents have goal-oriented conversation planning abilities. Using the TGCP task, we investigate the conversation planning abilities of existing retrieval models and recent strong generative models. The experimental results reveal the challenges facing current technology.

In real-life scenarios, humans seek out objects in the 3D world to fulfill their daily needs or intentions. This inspires us to introduce 3D intention grounding, a new task in 3D object detection employing RGB-D, based on human intention, such as "I want something to support my back". Closely related, 3D visual grounding focuses on understanding human reference. To achieve detection based on human intention, it relies on humans to observe the scene, reason out the target that aligns with their intention ("pillow" in this case), and finally provide a reference to the AI system, such as "A pillow on the couch". Instead, 3D intention grounding challenges AI agents to automatically observe, reason and detect the desired target solely based on human intention. To tackle this challenge, we introduce the new Intent3D dataset, consisting of 44,990 intention texts associated with 209 fine-grained classes from 1,042 scenes of the ScanNet dataset. We also establish several baselines based on different language-based 3D object detection models on our benchmark. Finally, we propose IntentNet, our unique approach, designed to tackle this intention-based detection problem. It focuses on three key aspects: intention understanding, reasoning to identify object candidates, and cascaded adaptive learning that leverages the intrinsic priority logic of different losses for multiple objective optimization.

Daily progress notes are common types in the electronic health record (EHR) where healthcare providers document the patient's daily progress and treatment plans. The EHR is designed to document all the care provided to patients, but it also enables note bloat with extraneous information that distracts from the diagnoses and treatment plans. Applications of natural language processing (NLP) in the EHR is a growing field with the majority of methods in information extraction. Few tasks use NLP methods for downstream diagnostic decision support. We introduced the 2022 National NLP Clinical Challenge (N2C2) Track 3: Progress Note Understanding - Assessment and Plan Reasoning as one step towards a new suite of tasks. The Assessment and Plan Reasoning task focuses on the most critical components of progress notes, Assessment and Plan subsections where health problems and diagnoses are contained. The goal of the task was to develop and evaluate NLP systems that automatically predict causal relations between the overall status of the patient contained in the Assessment section and its relation to each component of the Plan section which contains the diagnoses and treatment plans. The goal of the task was to identify and prioritize diagnoses as the first steps in diagnostic decision support to find the most relevant information in long documents like daily progress notes. We present the results of 2022 n2c2 Track 3 and provide a description of the data, evaluation, participation and system performance.

Planning for goal-oriented dialogue often requires simulating future dialogue interactions and estimating task progress. Many approaches thus consider training neural networks to perform look-ahead search algorithms such as A* search and Monte Carlo Tree Search (MCTS). However, this training often requires abundant annotated data, which creates challenges when faced with noisy annotations or low-resource settings. We introduce GDP-Zero, an approach using Open-Loop MCTS to perform goal-oriented dialogue policy planning without any model training. GDP-Zero prompts a large language model to act as a policy prior, value function, user simulator, and system model during the tree search. We evaluate GDP-Zero on the goal-oriented task PersuasionForGood, and find that its responses are preferred over ChatGPT up to 59.32% of the time, and are rated more persuasive than ChatGPT during interactive evaluations.

The remarkable advancements of vision and language foundation models in multimodal understanding, reasoning, and generation has sparked growing efforts to extend such intelligence to the physical world, fueling the flourishing of vision-language-action (VLA) models. Despite seemingly diverse approaches, we observe that current VLA models can be unified under a single framework: vision and language inputs are processed by a series of VLA modules, producing a chain of action tokens that progressively encode more grounded and actionable information, ultimately generating executable actions. We further determine that the primary design choice distinguishing VLA models lies in how action tokens are formulated, which can be categorized into language description, code, affordance, trajectory, goal state, latent representation, raw action, and reasoning. However, there remains a lack of comprehensive understanding regarding action tokens, significantly impeding effective VLA development and obscuring future directions. Therefore, this survey aims to categorize and interpret existing VLA research through the lens of action tokenization, distill the strengths and limitations of each token type, and identify areas for improvement. Through this systematic review and analysis, we offer a synthesized outlook on the broader evolution of VLA models, highlight underexplored yet promising directions, and contribute guidance for future research, hoping to bring the field closer to general-purpose intelligence.

In coming years or decades, artificial general intelligence (AGI) may surpass human capabilities at many critical tasks. We argue that, without substantial effort to prevent it, AGIs could learn to pursue goals that are in conflict (i.e. misaligned) with human interests. If trained like today's most capable models, AGIs could learn to act deceptively to receive higher reward, learn misaligned internally-represented goals which generalize beyond their fine-tuning distributions, and pursue those goals using power-seeking strategies. We review emerging evidence for these properties. AGIs with these properties would be difficult to align and may appear aligned even when they are not. Finally, we briefly outline how the deployment of misaligned AGIs might irreversibly undermine human control over the world, and we review research directions aimed at preventing this outcome.

For a large portion of real-life utterances, the intention cannot be solely decided by either their semantic or syntactic characteristics. Although not all the sociolinguistic and pragmatic information can be digitized, at least phonetic features are indispensable in understanding the spoken language. Especially in head-final languages such as Korean, sentence-final prosody has great importance in identifying the speaker's intention. This paper suggests a system which identifies the inherent intention of a spoken utterance given its transcript, in some cases using auxiliary acoustic features. The main point here is a separate distinction for cases where discrimination of intention requires an acoustic cue. Thus, the proposed classification system decides whether the given utterance is a fragment, statement, question, command, or a rhetorical question/command, utilizing the intonation-dependency coming from the head-finality. Based on an intuitive understanding of the Korean language that is engaged in the data annotation, we construct a network which identifies the intention of a speech, and validate its utility with the test sentences. The system, if combined with up-to-date speech recognizers, is expected to be flexibly inserted into various language understanding modules.

The reward hypothesis posits that, "all of what we mean by goals and purposes can be well thought of as maximization of the expected value of the cumulative sum of a received scalar signal (reward)." We aim to fully settle this hypothesis. This will not conclude with a simple affirmation or refutation, but rather specify completely the implicit requirements on goals and purposes under which the hypothesis holds.

We study the task of zero-shot vision-and-language navigation (ZS-VLN), a practical yet challenging problem in which an agent learns to navigate following a path described by language instructions without requiring any path-instruction annotation data. Normally, the instructions have complex grammatical structures and often contain various action descriptions (e.g., "proceed beyond", "depart from"). How to correctly understand and execute these action demands is a critical problem, and the absence of annotated data makes it even more challenging. Note that a well-educated human being can easily understand path instructions without the need for any special training. In this paper, we propose an action-aware zero-shot VLN method (A^2Nav) by exploiting the vision-and-language ability of foundation models. Specifically, the proposed method consists of an instruction parser and an action-aware navigation policy. The instruction parser utilizes the advanced reasoning ability of large language models (e.g., GPT-3) to decompose complex navigation instructions into a sequence of action-specific object navigation sub-tasks. Each sub-task requires the agent to localize the object and navigate to a specific goal position according to the associated action demand. To accomplish these sub-tasks, an action-aware navigation policy is learned from freely collected action-specific datasets that reveal distinct characteristics of each action demand. We use the learned navigation policy for executing sub-tasks sequentially to follow the navigation instruction. Extensive experiments show A^2Nav achieves promising ZS-VLN performance and even surpasses the supervised learning methods on R2R-Habitat and RxR-Habitat datasets.

Large vision-language models (VLMs) fine-tuned on specialized visual instruction-following data have exhibited impressive language reasoning capabilities across various scenarios. However, this fine-tuning paradigm may not be able to efficiently learn optimal decision-making agents in multi-step goal-directed tasks from interactive environments. To address this challenge, we propose an algorithmic framework that fine-tunes VLMs with reinforcement learning (RL). Specifically, our framework provides a task description and then prompts the VLM to generate chain-of-thought (CoT) reasoning, enabling the VLM to efficiently explore intermediate reasoning steps that lead to the final text-based action. Next, the open-ended text output is parsed into an executable action to interact with the environment to obtain goal-directed task rewards. Finally, our framework uses these task rewards to fine-tune the entire VLM with RL. Empirically, we demonstrate that our proposed framework enhances the decision-making capabilities of VLM agents across various tasks, enabling 7b models to outperform commercial models such as GPT4-V or Gemini. Furthermore, we find that CoT reasoning is a crucial component for performance improvement, as removing the CoT reasoning results in a significant decrease in the overall performance of our method.

The SoccerNet 2023 challenges were the third annual video understanding challenges organized by the SoccerNet team. For this third edition, the challenges were composed of seven vision-based tasks split into three main themes. The first theme, broadcast video understanding, is composed of three high-level tasks related to describing events occurring in the video broadcasts: (1) action spotting, focusing on retrieving all timestamps related to global actions in soccer, (2) ball action spotting, focusing on retrieving all timestamps related to the soccer ball change of state, and (3) dense video captioning, focusing on describing the broadcast with natural language and anchored timestamps. The second theme, field understanding, relates to the single task of (4) camera calibration, focusing on retrieving the intrinsic and extrinsic camera parameters from images. The third and last theme, player understanding, is composed of three low-level tasks related to extracting information about the players: (5) re-identification, focusing on retrieving the same players across multiple views, (6) multiple object tracking, focusing on tracking players and the ball through unedited video streams, and (7) jersey number recognition, focusing on recognizing the jersey number of players from tracklets. Compared to the previous editions of the SoccerNet challenges, tasks (2-3-7) are novel, including new annotations and data, task (4) was enhanced with more data and annotations, and task (6) now focuses on end-to-end approaches. More information on the tasks, challenges, and leaderboards are available on https://www.soccer-net.org. Baselines and development kits can be found on https://github.com/SoccerNet.

Linear programming (LP) problems are pervasive in real-life applications. However, despite their apparent simplicity, an untrained user may find it difficult to determine the linear model of their specific problem. We envisage the creation of a goal-oriented conversational agent that will engage in conversation with the user to elicit all information required so that a subsequent agent can generate the linear model. In this paper, we present an approach for the generation of sample dialogues that can be used to develop and train such a conversational agent. Using prompt engineering, we develop two agents that "talk" to each other, one acting as the conversational agent, and the other acting as the user. Using a set of text descriptions of linear problems from NL4Opt available to the user only, the agent and the user engage in conversation until the agent has retrieved all key information from the original problem description. We also propose an extrinsic evaluation of the dialogues by assessing how well the summaries generated by the dialogues match the original problem descriptions. We conduct human and automatic evaluations, including an evaluation approach that uses GPT-4 to mimic the human evaluation metrics. The evaluation results show an overall good quality of the dialogues, though research is still needed to improve the quality of the GPT-4 evaluation metrics. The resulting dialogues, including the human annotations of a subset, are available to the research community. The conversational agent used for the generation of the dialogues can be used as a baseline.

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where detecting whether the desired configuration is reached might require considerable supervision and instrumentation. Furthermore, we are often interested in being able to reach a wide range of configurations, hence setting up a different reward every time might be unpractical. Methods like Hindsight Experience Replay (HER) have recently shown promise to learn policies able to reach many goals, without the need of a reward. Unfortunately, without tricks like resetting to points along the trajectory, HER might require many samples to discover how to reach certain areas of the state-space. In this work we investigate different approaches to incorporate demonstrations to drastically speed up the convergence to a policy able to reach any goal, also surpassing the performance of an agent trained with other Imitation Learning algorithms. Furthermore, we show our method can also be used when the available expert trajectories do not contain the actions, which can leverage kinesthetic or third person demonstration. The code is available at https://sites.google.com/view/goalconditioned-il/.

Large language models (LLMs) have shown increasing capacity at planning and executing a high-level goal in a live computer environment (e.g. MiniWoB++). To perform a task, recent works often require a model to learn from trace examples of the task via either supervised learning or few/many-shot prompting. Without these trace examples, it remains a challenge how an agent can autonomously learn and improve its control on a computer, which limits the ability of an agent to perform a new task. We approach this problem with a zero-shot agent that requires no given expert traces. Our agent plans for executable actions on a partially observed environment, and iteratively progresses a task by identifying and learning from its mistakes via self-reflection and structured thought management. On the easy tasks of MiniWoB++, we show that our zero-shot agent often outperforms recent SoTAs, with more efficient reasoning. For tasks with more complexity, our reflective agent performs on par with prior best models, even though previous works had the advantages of accessing expert traces or additional screen information.

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an image, this makes for an unnatural interface. Language provides a more convenient modality for communication with robots, but contemporary methods typically require expensive supervision, in the form of trajectories annotated with language descriptions. We present a system, LM-Nav, for robotic navigation that enjoys the benefits of training on unannotated large datasets of trajectories, while still providing a high-level interface to the user. Instead of utilizing a labeled instruction following dataset, we show that such a system can be constructed entirely out of pre-trained models for navigation (ViNG), image-language association (CLIP), and language modeling (GPT-3), without requiring any fine-tuning or language-annotated robot data. We instantiate LM-Nav on a real-world mobile robot and demonstrate long-horizon navigation through complex, outdoor environments from natural language instructions. For videos of our experiments, code release, and an interactive Colab notebook that runs in your browser, please check out our project page https://sites.google.com/view/lmnav

Despite the recent emergence of video captioning models, how to generate vivid, fine-grained video descriptions based on the background knowledge (i.e., long and informative commentary about the domain-specific scenes with appropriate reasoning) is still far from being solved, which however has great applications such as automatic sports narrative. In this paper, we present GOAL, a benchmark of over 8.9k soccer video clips, 22k sentences, and 42k knowledge triples for proposing a challenging new task setting as Knowledge-grounded Video Captioning (KGVC). Moreover, we conduct experimental adaption of existing methods to show the difficulty and potential directions for solving this valuable and applicable task. Our data and code are available at https://github.com/THU-KEG/goal.

When humans cooperate, they frequently coordinate their activity through both verbal communication and non-verbal actions, using this information to infer a shared goal and plan. How can we model this inferential ability? In this paper, we introduce a model of a cooperative team where one agent, the principal, may communicate natural language instructions about their shared plan to another agent, the assistant, using GPT-3 as a likelihood function for instruction utterances. We then show how a third person observer can infer the team's goal via multi-modal Bayesian inverse planning from actions and instructions, computing the posterior distribution over goals under the assumption that agents will act and communicate rationally to achieve them. We evaluate this approach by comparing it with human goal inferences in a multi-agent gridworld, finding that our model's inferences closely correlate with human judgments (R = 0.96). When compared to inference from actions alone, we also find that instructions lead to more rapid and less uncertain goal inference, highlighting the importance of verbal communication for cooperative agents.

In this paper, we present empirical evidence of skills and directed exploration emerging from a simple RL algorithm long before any successful trials are observed. For example, in a manipulation task, the agent is given a single observation of the goal state and learns skills, first for moving its end-effector, then for pushing the block, and finally for picking up and placing the block. These skills emerge before the agent has ever successfully placed the block at the goal location and without the aid of any reward functions, demonstrations, or manually-specified distance metrics. Once the agent has learned to reach the goal state reliably, exploration is reduced. Implementing our method involves a simple modification of prior work and does not require density estimates, ensembles, or any additional hyperparameters. Intuitively, the proposed method seems like it should be terrible at exploration, and we lack a clear theoretical understanding of why it works so effectively, though our experiments provide some hints.

To act in the world, robots rely on a representation of salient task aspects: for example, to carry a cup of coffee, a robot must consider movement efficiency and cup orientation in its behaviour. However, if we want robots to act for and with people, their representations must not be just functional but also reflective of what humans care about, i.e. their representations must be aligned with humans'. In this survey, we pose that current reward and imitation learning approaches suffer from representation misalignment, where the robot's learned representation does not capture the human's representation. We suggest that because humans will be the ultimate evaluator of robot performance in the world, it is critical that we explicitly focus our efforts on aligning learned task representations with humans, in addition to learning the downstream task. We advocate that current representation learning approaches in robotics should be studied from the perspective of how well they accomplish the objective of representation alignment. To do so, we mathematically define the problem, identify its key desiderata, and situate current robot learning methods within this formalism. We conclude the survey by suggesting future directions for exploring open challenges.

A critical problem in the field of post hoc explainability is the lack of a common foundational goal among methods. For example, some methods are motivated by function approximation, some by game theoretic notions, and some by obtaining clean visualizations. This fragmentation of goals causes not only an inconsistent conceptual understanding of explanations but also the practical challenge of not knowing which method to use when. In this work, we begin to address these challenges by unifying eight popular post hoc explanation methods (LIME, C-LIME, KernelSHAP, Occlusion, Vanilla Gradients, Gradients x Input, SmoothGrad, and Integrated Gradients). We show that these methods all perform local function approximation of the black-box model, differing only in the neighbourhood and loss function used to perform the approximation. This unification enables us to (1) state a no free lunch theorem for explanation methods, demonstrating that no method can perform optimally across all neighbourhoods, and (2) provide a guiding principle to choose among methods based on faithfulness to the black-box model. We empirically validate these theoretical results using various real-world datasets, model classes, and prediction tasks. By bringing diverse explanation methods into a common framework, this work (1) advances the conceptual understanding of these methods, revealing their shared local function approximation objective, properties, and relation to one another, and (2) guides the use of these methods in practice, providing a principled approach to choose among methods and paving the way for the creation of new ones.

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their performance because they are usually applied in different domains, for different purposes, and built based on different inputs and outputs. Furthermore, existing evaluations tend to rely solely on a final success rate, making it difficult to pinpoint what ability is missing in LLMs and where the problem lies, which in turn blocks embodied agents from leveraging LLMs effectively and selectively. To address these limitations, we propose a generalized interface (Embodied Agent Interface) that supports the formalization of various types of tasks and input-output specifications of LLM-based modules. Specifically, it allows us to unify 1) a broad set of embodied decision-making tasks involving both state and temporally extended goals, 2) four commonly-used LLM-based modules for decision making: goal interpretation, subgoal decomposition, action sequencing, and transition modeling, and 3) a collection of fine-grained metrics which break down evaluation into various types of errors, such as hallucination errors, affordance errors, various types of planning errors, etc. Overall, our benchmark offers a comprehensive assessment of LLMs' performance for different subtasks, pinpointing the strengths and weaknesses in LLM-powered embodied AI systems, and providing insights for effective and selective use of LLMs in embodied decision making.

Language models (LMs) have demonstrated their capability in possessing commonsense knowledge of the physical world, a crucial aspect of performing tasks in everyday life. However, it remains unclear whether they have the capacity to generate grounded, executable plans for embodied tasks. This is a challenging task as LMs lack the ability to perceive the environment through vision and feedback from the physical environment. In this paper, we address this important research question and present the first investigation into the topic. Our novel problem formulation, named G-PlanET, inputs a high-level goal and a data table about objects in a specific environment, and then outputs a step-by-step actionable plan for a robotic agent to follow. To facilitate the study, we establish an evaluation protocol and design a dedicated metric, KAS, to assess the quality of the plans. Our experiments demonstrate that the use of tables for encoding the environment and an iterative decoding strategy can significantly enhance the LMs' ability in grounded planning. Our analysis also reveals interesting and non-trivial findings.

We teach goal-driven agents to interactively act and speak in situated environments by training on generated curriculums. Our agents operate in LIGHT (Urbanek et al. 2019) -- a large-scale crowd-sourced fantasy text adventure game wherein an agent perceives and interacts with the world through textual natural language. Goals in this environment take the form of character-based quests, consisting of personas and motivations. We augment LIGHT by learning to procedurally generate additional novel textual worlds and quests to create a curriculum of steadily increasing difficulty for training agents to achieve such goals. In particular, we measure curriculum difficulty in terms of the rarity of the quest in the original training distribution -- an easier environment is one that is more likely to have been found in the unaugmented dataset. An ablation study shows that this method of learning from the tail of a distribution results in significantly higher generalization abilities as measured by zero-shot performance on never-before-seen quests.

Active Geo-localization (AGL) is the task of localizing a goal, represented in various modalities (e.g., aerial images, ground-level images, or text), within a predefined search area. Current methods approach AGL as a goal-reaching reinforcement learning (RL) problem with a distance-based reward. They localize the goal by implicitly learning to minimize the relative distance from it. However, when distance estimation becomes challenging or when encountering unseen targets and environments, the agent exhibits reduced robustness and generalization ability due to the less reliable exploration strategy learned during training. In this paper, we propose GeoExplorer, an AGL agent that incorporates curiosity-driven exploration through intrinsic rewards. Unlike distance-based rewards, our curiosity-driven reward is goal-agnostic, enabling robust, diverse, and contextually relevant exploration based on effective environment modeling. These capabilities have been proven through extensive experiments across four AGL benchmarks, demonstrating the effectiveness and generalization ability of GeoExplorer in diverse settings, particularly in localizing unfamiliar targets and environments.

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even generate action sequences directly, given an instruction in natural language with no additional domain information. However, such methods either require enumerating all possible next steps for scoring, or generate free-form text that may contain actions not possible on a given robot in its current context. We present a programmatic LLM prompt structure that enables plan generation functional across situated environments, robot capabilities, and tasks. Our key insight is to prompt the LLM with program-like specifications of the available actions and objects in an environment, as well as with example programs that can be executed. We make concrete recommendations about prompt structure and generation constraints through ablation experiments, demonstrate state of the art success rates in VirtualHome household tasks, and deploy our method on a physical robot arm for tabletop tasks. Website at progprompt.github.io

Using vision-language models (VLMs) as reward models in reinforcement learning holds promise for reducing costs and improving safety. So far, VLM reward models have only been used for goal-oriented tasks, where the agent must reach a particular final outcome. We explore VLMs' potential to supervise tasks that cannot be scored by the final state alone. To this end, we introduce ViSTa, a dataset for evaluating Vision-based understanding of Sequential Tasks. ViSTa comprises over 4,000 videos with step-by-step descriptions in virtual home, Minecraft, and real-world environments. Its novel hierarchical structure -- basic single-step tasks composed into more and more complex sequential tasks -- allows a fine-grained understanding of how well VLMs can judge tasks with varying complexity. To illustrate this, we use ViSTa to evaluate state-of-the-art VLMs, including CLIP, ViCLIP, and GPT-4o. We find that, while they are all good at object recognition, they fail to understand sequential tasks, with only GPT-4o achieving non-trivial performance.

Large language models (LLMs) excel at knowledge-intensive question answering and reasoning, yet their real-world deployment remains constrained by knowledge cutoff, hallucination, and limited interaction modalities. Augmenting LLMs with external search tools helps alleviate these issues, but it also exposes agents to a complex search environment in which small, plausible variations in query formulation can steer reasoning into unproductive trajectories and amplify errors. We present a systematic analysis that quantifies how environmental complexity induces fragile search behaviors and, in turn, degrades overall performance. To address this challenge, we propose a simple yet effective approach to instantiate a search agent, RE-Searcher. During search, RE-Searcher explicitly articulates a concrete search goal and subsequently reflects on whether the retrieved evidence satisfies that goal. This combination of goal-oriented planning and self-reflection enables RE-Searcher to resist spurious cues in complex search environments and perform robust search. Extensive experiments show that our method improves search accuracy and achieves state-of-the-art results. Perturbation studies further demonstrate substantial resilience to noisy or misleading external signals, mitigating the fragility of the search process. We believe these findings offer practical guidance for integrating LLM-powered agents into more complex interactive environments and enabling more autonomous decision-making.

Artificial Intelligence (AI) has made incredible progress recently. On the one hand, advanced foundation models like ChatGPT can offer powerful conversation, in-context learning and code generation abilities on a broad range of open-domain tasks. They can also generate high-level solution outlines for domain-specific tasks based on the common sense knowledge they have acquired. However, they still face difficulties with some specialized tasks because they lack enough domain-specific data during pre-training or they often have errors in their neural network computations on those tasks that need accurate executions. On the other hand, there are also many existing models and systems (symbolic-based or neural-based) that can do some domain-specific tasks very well. However, due to the different implementation or working mechanisms, they are not easily accessible or compatible with foundation models. Therefore, there is a clear and pressing need for a mechanism that can leverage foundation models to propose task solution outlines and then automatically match some of the sub-tasks in the outlines to the off-the-shelf models and systems with special functionalities to complete them. Inspired by this, we introduce TaskMatrix.AI as a new AI ecosystem that connects foundation models with millions of APIs for task completion. Unlike most previous work that aimed to improve a single AI model, TaskMatrix.AI focuses more on using existing foundation models (as a brain-like central system) and APIs of other AI models and systems (as sub-task solvers) to achieve diversified tasks in both digital and physical domains. As a position paper, we will present our vision of how to build such an ecosystem, explain each key component, and use study cases to illustrate both the feasibility of this vision and the main challenges we need to address next.

To make AI systems broadly useful for challenging real-world tasks, we need them to learn complex human goals and preferences. One approach to specifying complex goals asks humans to judge during training which agent behaviors are safe and useful, but this approach can fail if the task is too complicated for a human to directly judge. To help address this concern, we propose training agents via self play on a zero sum debate game. Given a question or proposed action, two agents take turns making short statements up to a limit, then a human judges which of the agents gave the most true, useful information. In an analogy to complexity theory, debate with optimal play can answer any question in PSPACE given polynomial time judges (direct judging answers only NP questions). In practice, whether debate works involves empirical questions about humans and the tasks we want AIs to perform, plus theoretical questions about the meaning of AI alignment. We report results on an initial MNIST experiment where agents compete to convince a sparse classifier, boosting the classifier's accuracy from 59.4% to 88.9% given 6 pixels and from 48.2% to 85.2% given 4 pixels. Finally, we discuss theoretical and practical aspects of the debate model, focusing on potential weaknesses as the model scales up, and we propose future human and computer experiments to test these properties.

We investigate the internal representations of vision-and-language models (VLMs) and how they encode task representations. We consider tasks specified through examples or instructions, using either text or image inputs. Surprisingly, we find that conceptually similar tasks are mapped to similar task vector representations, regardless of how they are specified. Our findings suggest that to output answers, tokens in VLMs undergo three distinct phases: input, task, and answer, a process which is consistent across different modalities and specifications. The task vectors we identify in VLMs are general enough to be derived in one modality (e.g., text) and transferred to another (e.g., image). Additionally, we find that ensembling exemplar and instruction based task vectors produce better task representations. Taken together, these insights shed light on the underlying mechanisms of VLMs, particularly their ability to represent tasks in a shared manner across different modalities and task specifications. Project page: https://task-vectors-are-cross-modal.github.io.

This paper presents AlignBot, a novel framework designed to optimize VLM-powered customized task planning for household robots by effectively aligning with user reminders. In domestic settings, aligning task planning with user reminders poses significant challenges due to the limited quantity, diversity, and multimodal nature of the reminders. To address these challenges, AlignBot employs a fine-tuned LLaVA-7B model, functioning as an adapter for GPT-4o. This adapter model internalizes diverse forms of user reminders-such as personalized preferences, corrective guidance, and contextual assistance-into structured instruction-formatted cues that prompt GPT-4o in generating customized task plans. Additionally, AlignBot integrates a dynamic retrieval mechanism that selects task-relevant historical successes as prompts for GPT-4o, further enhancing task planning accuracy. To validate the effectiveness of AlignBot, experiments are conducted in real-world household environments, which are constructed within the laboratory to replicate typical household settings. A multimodal dataset with over 1,500 entries derived from volunteer reminders is used for training and evaluation. The results demonstrate that AlignBot significantly improves customized task planning, outperforming existing LLM- and VLM-powered planners by interpreting and aligning with user reminders, achieving 86.8% success rate compared to the vanilla GPT-4o baseline at 21.6%, reflecting a 65% improvement and over four times greater effectiveness. Supplementary materials are available at: https://yding25.com/AlignBot/

Understanding functionalities in 3D scenes involves interpreting natural language descriptions to locate functional interactive objects, such as handles and buttons, in a 3D environment. Functionality understanding is highly challenging, as it requires both world knowledge to interpret language and spatial perception to identify fine-grained objects. For example, given a task like 'turn on the ceiling light', an embodied AI agent must infer that it needs to locate the light switch, even though the switch is not explicitly mentioned in the task description. To date, no dedicated methods have been developed for this problem. In this paper, we introduce Fun3DU, the first approach designed for functionality understanding in 3D scenes. Fun3DU uses a language model to parse the task description through Chain-of-Thought reasoning in order to identify the object of interest. The identified object is segmented across multiple views of the captured scene by using a vision and language model. The segmentation results from each view are lifted in 3D and aggregated into the point cloud using geometric information. Fun3DU is training-free, relying entirely on pre-trained models. We evaluate Fun3DU on SceneFun3D, the most recent and only dataset to benchmark this task, which comprises over 3000 task descriptions on 230 scenes. Our method significantly outperforms state-of-the-art open-vocabulary 3D segmentation approaches. Project page: https://jcorsetti.github.io/fun3du

Visual Planning for Assistance (VPA) aims to predict a sequence of user actions required to achieve a specified goal based on a video showing the user's progress. Although recent advances in multimodal large language models (MLLMs) have shown promising results in video understanding, long-horizon visual planning remains a challenging problem. We identify two challenges in training large MLLMs for video-based planning tasks: (1) scarcity of procedural annotations, limiting the model's ability to learn procedural task dynamics effectively, and (2) inefficiency of next-token prediction objective to explicitly capture the structured action space for visual planning when compared to free-form, natural language. To tackle data scarcity, we introduce Auxiliary Task Augmentation. We design and train our model on auxiliary tasks relevant to long-horizon video-based planning (e.g., goal prediction) to augment the model's planning ability. To more explicitly model the structured action space unique to visual planning tasks, we leverage Multi-token Prediction, extending traditional next-token prediction by using multiple heads to predict multiple future tokens during training. Our approach, VideoPlan, achieves state-of-the-art VPA performance on the COIN and CrossTask datasets, surpassing prior methods by 7.3% and 3.4%, respectively, when predicting 3 future actions. We further extend our method to the challenging Ego4D Long-term Action Anticipation task, and show that it is on par with the state-of-the-art approaches despite not using specialized egocentric features. Code will be made available.

In this paper, we propose an autonomous information seeking visual question answering framework, AVIS. Our method leverages a Large Language Model (LLM) to dynamically strategize the utilization of external tools and to investigate their outputs, thereby acquiring the indispensable knowledge needed to provide answers to the posed questions. Responding to visual questions that necessitate external knowledge, such as "What event is commemorated by the building depicted in this image?", is a complex task. This task presents a combinatorial search space that demands a sequence of actions, including invoking APIs, analyzing their responses, and making informed decisions. We conduct a user study to collect a variety of instances of human decision-making when faced with this task. This data is then used to design a system comprised of three components: an LLM-powered planner that dynamically determines which tool to use next, an LLM-powered reasoner that analyzes and extracts key information from the tool outputs, and a working memory component that retains the acquired information throughout the process. The collected user behavior serves as a guide for our system in two key ways. First, we create a transition graph by analyzing the sequence of decisions made by users. This graph delineates distinct states and confines the set of actions available at each state. Second, we use examples of user decision-making to provide our LLM-powered planner and reasoner with relevant contextual instances, enhancing their capacity to make informed decisions. We show that AVIS achieves state-of-the-art results on knowledge-intensive visual question answering benchmarks such as Infoseek and OK-VQA.

In this paper, we study the problem of planning in Minecraft, a popular, democratized yet challenging open-ended environment for developing multi-task embodied agents. We've found two primary challenges of empowering such agents with planning: 1) planning in an open-ended world like Minecraft requires precise and multi-step reasoning due to the long-term nature of the tasks, and 2) as vanilla planners do not consider the proximity to the current agent when ordering parallel sub-goals within a complicated plan, the resulting plan could be inefficient. To this end, we propose "Describe, Explain, Plan and Select" (DEPS), an interactive planning approach based on Large Language Models (LLMs). Our approach helps with better error correction from the feedback during the long-haul planning, while also bringing the sense of proximity via goal Selector, a learnable module that ranks parallel sub-goals based on the estimated steps of completion and improves the original plan accordingly. Our experiments mark the milestone of the first multi-task agent that can robustly accomplish 70+ Minecraft tasks and nearly doubles the overall performances. Finally, the ablation and exploratory studies detail how our design beats the counterparts and provide a promising update on the ObtainDiamond grand challenge with our approach. The code is released at https://github.com/CraftJarvis/MC-Planner.

An algorithm to estimate the evolution of learning curves on the whole of a training data base, based on the results obtained from a portion and using a functional strategy, is introduced. We approximate iteratively the sought value at the desired time, independently of the learning technique used and once a point in the process, called prediction level, has been passed. The proposal proves to be formally correct with respect to our working hypotheses and includes a reliable proximity condition. This allows the user to fix a convergence threshold with respect to the accuracy finally achievable, which extends the concept of stopping criterion and seems to be effective even in the presence of distorting observations. Our aim is to evaluate the training effort, supporting decision making in order to reduce the need for both human and computational resources during the learning process. The proposal is of interest in at least three operational procedures. The first is the anticipation of accuracy gain, with the purpose of measuring how much work is needed to achieve a certain degree of performance. The second relates the comparison of efficiency between systems at training time, with the objective of completing this task only for the one that best suits our requirements. The prediction of accuracy is also a valuable item of information for customizing systems, since we can estimate in advance the impact of settings on both the performance and the development costs. Using the generation of part-of-speech taggers as an example application, the experimental results are consistent with our expectations.

LLMs have immense potential for generating plans, transforming an initial world state into a desired goal state. A large body of research has explored the use of LLMs for various planning tasks, from web navigation to travel planning and database querying. However, many of these systems are tailored to specific problems, making it challenging to compare them or determine the best approach for new tasks. There is also a lack of clear and consistent evaluation criteria. Our survey aims to offer a comprehensive overview of current LLM planners to fill this gap. It builds on foundational work by Kartam and Wilkins (1990) and examines six key performance criteria: completeness, executability, optimality, representation, generalization, and efficiency. For each, we provide a thorough analysis of representative works and highlight their strengths and weaknesses. Our paper also identifies crucial future directions, making it a valuable resource for both practitioners and newcomers interested in leveraging LLM planning to support agentic workflows.

Conversational interfaces provide a flexible and easy way for users to seek information that may otherwise be difficult or inconvenient to obtain. However, existing interfaces generally fall into one of two categories: FAQs, where users must have a concrete question in order to retrieve a general answer, or dialogs, where users must follow a predefined path but may receive a personalized answer. In this paper, we introduce Conversational Tree Search (CTS) as a new task that bridges the gap between FAQ-style information retrieval and task-oriented dialog, allowing domain-experts to define dialog trees which can then be converted to an efficient dialog policy that learns only to ask the questions necessary to navigate a user to their goal. We collect a dataset for the travel reimbursement domain and demonstrate a baseline as well as a novel deep Reinforcement Learning architecture for this task. Our results show that the new architecture combines the positive aspects of both the FAQ and dialog system used in the baseline and achieves higher goal completion while skipping unnecessary questions.

Interestingly, LLMs yet struggle with some basic tasks that humans find trivial to handle, e.g., counting the number of character r's in the word "strawberry". There are several popular conjectures (e.g., tokenization, architecture and training data) regarding the reason for deficiency of LLMs in simple word-based counting problems, sharing the similar belief that such failure stems from model pretraining hence probably inevitable during deployment. In this paper, we carefully design multiple evaluation settings to investigate validity of prevalent conjectures. Meanwhile, we measure transferability of advanced mathematical and coding reasoning capabilities from specialized LLMs to simple counting tasks. Although specialized LLMs suffer from counting problems as well, we find conjectures about inherent deficiency of LLMs invalid and further seek opportunities to elicit knowledge and capabilities from LLMs that are beneficial to counting tasks. Compared with strategies such as finetuning and in-context learning that are commonly adopted to enhance performance on new or challenging tasks, we show that engaging reasoning is the most robust and efficient way to help LLMs better perceive tasks with more accurate responses. We hope our conjecture validation design could provide insights into the study of future critical failure modes of LLMs. Based on challenges in transferring advanced capabilities to much simpler tasks, we call for more attention to model capability acquisition and evaluation. We also highlight the importance of cultivating consciousness of "reasoning before responding" during model pretraining.

In this work, we focus on the task of procedure planning from instructional videos with text supervision, where a model aims to predict an action sequence to transform the initial visual state into the goal visual state. A critical challenge of this task is the large semantic gap between observed visual states and unobserved intermediate actions, which is ignored by previous works. Specifically, this semantic gap refers to that the contents in the observed visual states are semantically different from the elements of some action text labels in a procedure. To bridge this semantic gap, we propose a novel event-guided paradigm, which first infers events from the observed states and then plans out actions based on both the states and predicted events. Our inspiration comes from that planning a procedure from an instructional video is to complete a specific event and a specific event usually involves specific actions. Based on the proposed paradigm, we contribute an Event-guided Prompting-based Procedure Planning (E3P) model, which encodes event information into the sequential modeling process to support procedure planning. To further consider the strong action associations within each event, our E3P adopts a mask-and-predict approach for relation mining, incorporating a probabilistic masking scheme for regularization. Extensive experiments on three datasets demonstrate the effectiveness of our proposed model.

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level robot actions, effectively bridging the interface between high-level planning and low-level robot control. However, the challenge remains that even with syntactically correct plans, robots can still fail to achieve their intended goals. This failure can be attributed to imperfect plans proposed by LLMs or to unforeseeable environmental circumstances that hinder the execution of planned subtasks due to erroneous assumptions about the state of objects. One way to prevent these challenges is to rely on human-provided step-by-step instructions, limiting the autonomy of robotic systems. Vision Language Models (VLMs) have shown remarkable success in tasks such as visual question answering and image captioning. Leveraging the capabilities of VLMs, we present a novel framework called Robotic Replanning with Perception and Language Models (RePLan) that enables real-time replanning capabilities for long-horizon tasks. This framework utilizes the physical grounding provided by a VLM's understanding of the world's state to adapt robot actions when the initial plan fails to achieve the desired goal. We test our approach within four environments containing seven long-horizion tasks. We find that RePLan enables a robot to successfully adapt to unforeseen obstacles while accomplishing open-ended, long-horizon goals, where baseline models cannot. Find more information at https://replan-lm.github.io/replan.github.io/

Language model (LM) pre-training is useful in many language processing tasks. But can pre-trained LMs be further leveraged for more general machine learning problems? We propose an approach for using LMs to scaffold learning and generalization in general sequential decision-making problems. In this approach, goals and observations are represented as a sequence of embeddings, and a policy network initialized with a pre-trained LM predicts the next action. We demonstrate that this framework enables effective combinatorial generalization across different environments and supervisory modalities. We begin by assuming access to a set of expert demonstrations, and show that initializing policies with LMs and fine-tuning them via behavior cloning improves task completion rates by 43.6% in the VirtualHome environment. Next, we integrate an active data gathering procedure in which agents iteratively interact with the environment, relabel past "failed" experiences with new goals, and update their policies in a self-supervised loop. Active data gathering further improves combinatorial generalization, outperforming the best baseline by 25.1%. Finally, we explain these results by investigating three possible factors underlying the effectiveness of the LM-based policy. We find that sequential input representations (vs. fixed-dimensional feature vectors) and LM-based weight initialization are both important for generalization. Surprisingly, however, the format of the policy inputs encoding (e.g. as a natural language string vs. an arbitrary sequential encoding) has little influence. Together, these results suggest that language modeling induces representations that are useful for modeling not just language, but also goals and plans; these representations can aid learning and generalization even outside of language processing.

Traditional dialog systems used in goal-oriented applications require a lot of domain-specific handcrafting, which hinders scaling up to new domains. End-to-end dialog systems, in which all components are trained from the dialogs themselves, escape this limitation. But the encouraging success recently obtained in chit-chat dialog may not carry over to goal-oriented settings. This paper proposes a testbed to break down the strengths and shortcomings of end-to-end dialog systems in goal-oriented applications. Set in the context of restaurant reservation, our tasks require manipulating sentences and symbols, so as to properly conduct conversations, issue API calls and use the outputs of such calls. We show that an end-to-end dialog system based on Memory Networks can reach promising, yet imperfect, performance and learn to perform non-trivial operations. We confirm those results by comparing our system to a hand-crafted slot-filling baseline on data from the second Dialog State Tracking Challenge (Henderson et al., 2014a). We show similar result patterns on data extracted from an online concierge service.

We develop a system which generates summaries from seniors' indoor-activity videos captured by a social robot to help remote family members know their seniors' daily activities at home. Unlike the traditional video summarization datasets, indoor videos captured from a moving robot poses additional challenges, namely, (i) the video sequences are very long (ii) a significant number of video-frames contain no-subject or with subjects at ill-posed locations and scales (iii) most of the well-posed frames contain highly redundant information. To address this problem, we propose to exploit pose estimation for detecting people in frames. This guides the robot to follow the user and capture effective videos. We use person identification to distinguish a target senior from other people. We also make use of action recognition to analyze seniors' major activities at different moments, and develop a video summarization method to select diverse and representative keyframes as summaries.

Context-grounded hallucinations are cases where model outputs contain information not verifiable against the source text. We study the applicability of LLMs for localizing such hallucinations, as a more practical alternative to existing complex evaluation pipelines. In the absence of established benchmarks for meta-evaluation of hallucinations localization, we construct one tailored to LLMs, involving a challenging human annotation of over 1,000 examples. We complement the benchmark with an LLM-based evaluation protocol, verifying its quality in a human evaluation. Since existing representations of hallucinations limit the types of errors that can be expressed, we propose a new representation based on free-form textual descriptions, capturing the full range of possible errors. We conduct a comprehensive study, evaluating four large-scale LLMs, which highlights the benchmark's difficulty, as the best model achieves an F1 score of only 0.67. Through careful analysis, we offer insights into optimal prompting strategies for the task and identify the main factors that make it challenging for LLMs: (1) a tendency to incorrectly flag missing details as inconsistent, despite being instructed to check only facts in the output; and (2) difficulty with outputs containing factually correct information absent from the source - and thus not verifiable - due to alignment with the model's parametric knowledge.

In deployment scenarios such as homes and warehouses, mobile robots are expected to autonomously navigate for extended periods, seamlessly executing tasks articulated in terms that are intuitively understandable by human operators. We present GO To Any Thing (GOAT), a universal navigation system capable of tackling these requirements with three key features: a) Multimodal: it can tackle goals specified via category labels, target images, and language descriptions, b) Lifelong: it benefits from its past experience in the same environment, and c) Platform Agnostic: it can be quickly deployed on robots with different embodiments. GOAT is made possible through a modular system design and a continually augmented instance-aware semantic memory that keeps track of the appearance of objects from different viewpoints in addition to category-level semantics. This enables GOAT to distinguish between different instances of the same category to enable navigation to targets specified by images and language descriptions. In experimental comparisons spanning over 90 hours in 9 different homes consisting of 675 goals selected across 200+ different object instances, we find GOAT achieves an overall success rate of 83%, surpassing previous methods and ablations by 32% (absolute improvement). GOAT improves with experience in the environment, from a 60% success rate at the first goal to a 90% success after exploration. In addition, we demonstrate that GOAT can readily be applied to downstream tasks such as pick and place and social navigation.

When using language models (LMs) to solve complex problems, humans might struggle to understand the LM-generated solutions and repair the flawed ones. To assist humans in repairing them, we propose to automatically decompose complex solutions into multiple simpler pieces that correspond to specific subtasks. We introduce a novel objective for learning task decomposition, termed assistive value (AssistV), which measures the feasibility and speed for humans to repair the decomposed solution. We collect a dataset of human repair experiences on different decomposed solutions. Utilizing the collected data as in-context examples, we then learn to critique, refine, and rank decomposed solutions to improve AssistV. We validate our method under competitive programming problems: under 177 hours of human study, our method enables non-experts to solve 33.3\% more problems, speeds them up by 3.3x, and empowers them to match unassisted experts.

In recent months, Language Models (LMs) have become a part of daily discourse, with focus on OpenAI and the potential of Artificial General Intelligence (AGI). Furthermore, the leaking of LLama's weights to the public has led to an influx of innovations demonstrating the impressive capabilities of generative LMs. While we believe that AGI is still a distant goal, we recognize the potential of LMs in solving tasks such as searching complex documents, compiling reports with basic analysis, and providing assistance in problem-solving. In this paper, we propose formalizing the execution model of language models. We investigate current execution models, to find that this formalism has received little attention, and present our contribution: the first formalized execution model for LMs. We introduce a new algorithm for sampling the predictions of LMs, which we use to build a reliable and inspectable execution model. We introduce a low-level language to write "cognitive program" for this execution model. We hope to shed light on the need for execution models for LMs and encourage further research in this area.

Despite the significant demand for assistive technology among vulnerable groups (e.g., the elderly, children, and the disabled) in daily tasks, research into advanced AI-driven assistive solutions that genuinely accommodate their diverse needs remains sparse. Traditional human-machine interaction tasks often require machines to simply help without nuanced consideration of human abilities and feelings, such as their opportunity for practice and learning, sense of self-improvement, and self-esteem. Addressing this gap, we define a pivotal and novel challenge Smart Help, which aims to provide proactive yet adaptive support to human agents with diverse disabilities and dynamic goals in various tasks and environments. To establish this challenge, we leverage AI2-THOR to build a new interactive 3D realistic household environment for the Smart Help task. We introduce an innovative opponent modeling module that provides a nuanced understanding of the main agent's capabilities and goals, in order to optimize the assisting agent's helping policy. Rigorous experiments validate the efficacy of our model components and show the superiority of our holistic approach against established baselines. Our findings illustrate the potential of AI-imbued assistive robots in improving the well-being of vulnerable groups.

Large language model (LLM)-based agents have demonstrated remarkable capabilities in decision-making tasks, but struggle significantly with complex, long-horizon planning scenarios. This arises from their lack of macroscopic guidance, causing disorientation and failures in complex tasks, as well as insufficient continuous oversight during execution, rendering them unresponsive to environmental changes and prone to deviations. To tackle these challenges, we introduce HiPlan, a hierarchical planning framework that provides adaptive global-local guidance to boost LLM-based agents'decision-making. HiPlan decomposes complex tasks into milestone action guides for general direction and step-wise hints for detailed actions. During the offline phase, we construct a milestone library from expert demonstrations, enabling structured experience reuse by retrieving semantically similar tasks and milestones. In the execution phase, trajectory segments from past milestones are dynamically adapted to generate step-wise hints that align current observations with the milestone objectives, bridging gaps and correcting deviations. Extensive experiments across two challenging benchmarks demonstrate that HiPlan substantially outperforms strong baselines, and ablation studies validate the complementary benefits of its hierarchical components.

A key goal for the advancement of AI is to develop technologies that serve the needs not just of one group but of all communities regardless of their geographical region. In fact, a significant proportion of knowledge is locally shared by people from certain regions but may not apply equally in other regions because of cultural differences. If a model is unaware of regional characteristics, it may lead to performance disparity across regions and result in bias against underrepresented groups. We propose GIVL, a Geographically Inclusive Vision-and-Language Pre-trained model. There are two attributes of geo-diverse visual concepts which can help to learn geo-diverse knowledge: 1) concepts under similar categories have unique knowledge and visual characteristics, 2) concepts with similar visual features may fall in completely different categories. Motivated by the attributes, we design new pre-training objectives Image Knowledge Matching (IKM) and Image Edit Checking (IEC) to pre-train GIVL. Compared with similar-size models pre-trained with similar scale of data, GIVL achieves state-of-the-art (SOTA) and more balanced performance on geo-diverse V&L tasks.

AI models have made significant strides in recent years in their ability to describe and answer questions about real-world images. They have also made progress in the ability to converse with users in real-time using audio input. This raises the question: have we reached the point where AI models, connected to a camera and microphone, can converse with users in real-time about scenes and events that are unfolding live in front of the camera? This has been a long-standing goal in AI and is a prerequisite for real-world AI assistants and humanoid robots to interact with humans in everyday situations. In this work, we introduce a new dataset and benchmark, the Qualcomm Interactive Video Dataset (IVD), which allows us to assess the extent to which existing models can support these abilities, and to what degree these capabilities can be instilled through fine-tuning. The dataset is based on a simple question-answering setup, where users ask questions that the system has to answer, in real-time, based on the camera and audio input. We show that existing models fall far behind human performance on this task, and we identify the main sources for the performance gap. However, we also show that for many of the required perceptual skills, fine-tuning on this form of data can significantly reduce this gap.

We study zero-shot instance navigation, in which the agent navigates to a specific object without using object annotations for training. Previous object navigation approaches apply the image-goal navigation (ImageNav) task (go to the location of an image) for pretraining, and transfer the agent to achieve object goals using a vision-language model. However, these approaches lead to issues of semantic neglect, where the model fails to learn meaningful semantic alignments. In this paper, we propose a Prioritized Semantic Learning (PSL) method to improve the semantic understanding ability of navigation agents. Specifically, a semantic-enhanced PSL agent is proposed and a prioritized semantic training strategy is introduced to select goal images that exhibit clear semantic supervision and relax the reward function from strict exact view matching. At inference time, a semantic expansion inference scheme is designed to preserve the same granularity level of the goal semantic as training. Furthermore, for the popular HM3D environment, we present an Instance Navigation (InstanceNav) task that requires going to a specific object instance with detailed descriptions, as opposed to the Object Navigation (ObjectNav) task where the goal is defined merely by the object category. Our PSL agent outperforms the previous state-of-the-art by 66% on zero-shot ObjectNav in terms of success rate and is also superior on the new InstanceNav task. Code will be released at https://github.com/XinyuSun/PSL-InstanceNav.

Existing embodied instance goal navigation tasks, driven by natural language, assume human users to provide complete and nuanced instance descriptions prior to the navigation, which can be impractical in the real world as human instructions might be brief and ambiguous. To bridge this gap, we propose a new task, Collaborative Instance Navigation (CoIN), with dynamic agent-human interaction during navigation to actively resolve uncertainties about the target instance in natural, template-free, open-ended dialogues. To address CoIN, we propose a novel method, Agent-user Interaction with UncerTainty Awareness (AIUTA), leveraging the perception capability of Vision Language Models (VLMs) and the capability of Large Language Models (LLMs). First, upon object detection, a Self-Questioner model initiates a self-dialogue to obtain a complete and accurate observation description, while a novel uncertainty estimation technique mitigates inaccurate VLM perception. Then, an Interaction Trigger module determines whether to ask a question to the user, continue or halt navigation, minimizing user input. For evaluation, we introduce CoIN-Bench, a benchmark supporting both real and simulated humans. AIUTA achieves competitive performance in instance navigation against state-of-the-art methods, demonstrating great flexibility in handling user inputs.

Generalist robots that can perform a range of different tasks in open-world settings must be able to not only reason about the steps needed to accomplish their goals, but also process complex instructions, prompts, and even feedback during task execution. Intricate instructions (e.g., "Could you make me a vegetarian sandwich?" or "I don't like that one") require not just the ability to physically perform the individual steps, but the ability to situate complex commands and feedback in the physical world. In this work, we describe a system that uses vision-language models in a hierarchical structure, first reasoning over complex prompts and user feedback to deduce the most appropriate next step to fulfill the task, and then performing that step with low-level actions. In contrast to direct instruction following methods that can fulfill simple commands ("pick up the cup"), our system can reason through complex prompts and incorporate situated feedback during task execution ("that's not trash"). We evaluate our system across three robotic platforms, including single-arm, dual-arm, and dual-arm mobile robots, demonstrating its ability to handle tasks such as cleaning messy tables, making sandwiches, and grocery shopping. Videos are available at https://www.pi.website/research/hirobot

Planning in textual environments have been shown to be a long-standing challenge even for current models. A recent, promising line of work uses LLMs to generate a formal representation of the environment that can be solved by a symbolic planner. However, existing methods rely on a fully-observed environment where all entity states are initially known, so a one-off representation can be constructed, leading to a complete plan. In contrast, we tackle partially-observed environments where there is initially no sufficient information to plan for the end-goal. We propose PDDLEGO that iteratively construct a planning representation that can lead to a partial plan for a given sub-goal. By accomplishing the sub-goal, more information is acquired to augment the representation, eventually achieving the end-goal. We show that plans produced by few-shot PDDLEGO are 43% more efficient than generating plans end-to-end on the Coin Collector simulation, with strong performance (98%) on the more complex Cooking World simulation where end-to-end LLMs fail to generate coherent plans (4%).

Reinforcement learning has seen wide success in finetuning large language models to better align with instructions via human feedback. The so-called algorithm, Reinforcement Learning with Human Feedback (RLHF) demonstrates impressive performance on the GPT series models. However, the underlying Reinforcement Learning (RL) algorithm is complex and requires an additional training pipeline for reward and value networks. In this paper, we consider an alternative approach: converting feedback to instruction by relabeling the original one and training the model for better alignment in a supervised manner. Such an algorithm doesn't require any additional parameters except for the original language model and maximally reuses the pretraining pipeline. To achieve this, we formulate instruction alignment problem for language models as a goal-reaching problem in decision making. We propose Hindsight Instruction Relabeling (HIR), a novel algorithm for aligning language models with instructions. The resulting two-stage algorithm shed light to a family of reward-free approaches that utilize the hindsightly relabeled instructions based on feedback. We evaluate the performance of HIR extensively on 12 challenging BigBench reasoning tasks and show that HIR outperforms the baseline algorithms and is comparable to or even surpasses supervised finetuning.

We introduce ALaRM, the first framework modeling hierarchical rewards in reinforcement learning from human feedback (RLHF), which is designed to enhance the alignment of large language models (LLMs) with human preferences. The framework addresses the limitations of current alignment approaches, which often struggle with the inconsistency and sparsity of human supervision signals, by integrating holistic rewards with aspect-specific rewards. This integration enables more precise and consistent guidance of language models towards desired outcomes, particularly in complex and open text generation tasks. By employing a methodology that filters and combines multiple rewards based on their consistency, the framework provides a reliable mechanism for improving model alignment. We validate our approach through applications in long-form question answering and machine translation tasks, employing gpt-3.5-turbo for pairwise comparisons, and demonstrate improvements over existing baselines. Our work underscores the effectiveness of hierarchical rewards modeling in refining LLM training processes for better human preference alignment. We release our code at https://ALaRM-fdu.github.io.

We present ALFRED (Action Learning From Realistic Environments and Directives), a benchmark for learning a mapping from natural language instructions and egocentric vision to sequences of actions for household tasks. ALFRED includes long, compositional tasks with non-reversible state changes to shrink the gap between research benchmarks and real-world applications. ALFRED consists of expert demonstrations in interactive visual environments for 25k natural language directives. These directives contain both high-level goals like "Rinse off a mug and place it in the coffee maker." and low-level language instructions like "Walk to the coffee maker on the right." ALFRED tasks are more complex in terms of sequence length, action space, and language than existing vision-and-language task datasets. We show that a baseline model based on recent embodied vision-and-language tasks performs poorly on ALFRED, suggesting that there is significant room for developing innovative grounded visual language understanding models with this benchmark.

The structure of causal language model training assumes that each token can be accurately predicted from the previous context. This contrasts with humans' natural writing and reasoning process, where goals are typically known before the exact argument or phrasings. While this mismatch has been well studied in the literature, the working assumption has been that architectural changes are needed to address this mismatch. We argue that rearranging and processing the training data sequences can allow models to more accurately imitate the true data-generating process, and does not require any other changes to the architecture or training infrastructure. We demonstrate that this technique, Trelawney, and the inference algorithms derived from it allow us to improve performance on several key benchmarks that span planning, algorithmic reasoning, and story generation tasks. Finally, our method naturally enables the generation of long-term goals at no additional cost. We investigate how using the model's goal-generation capability can further improve planning and reasoning. Additionally, we believe Trelawney could potentially open doors to new capabilities beyond the current language modeling paradigm.

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such generalist robots. Unlike typical robot learning approaches which directly learn how a robot should act from interaction data, we adopt a factorized approach that can leverage large-scale human videos to learn how a human would accomplish a desired task (a human plan), followed by translating this plan to the robots embodiment. Specifically, we learn a human plan predictor that, given a current image of a scene and a goal image, predicts the future hand and object configurations. We combine this with a translation module that learns a plan-conditioned robot manipulation policy, and allows following humans plans for generic manipulation tasks in a zero-shot manner with no deployment-time training. Importantly, while the plan predictor can leverage large-scale human videos for learning, the translation module only requires a small amount of in-domain data, and can generalize to tasks not seen during training. We show that our learned system can perform over 16 manipulation skills that generalize to 40 objects, encompassing 100 real-world tasks for table-top manipulation and diverse in-the-wild manipulation. https://homangab.github.io/hopman/

Reward models (RMs) are at the crux of successful RLHF to align pretrained models to human preferences, yet there has been relatively little study that focuses on evaluation of those reward models. Evaluating reward models presents an opportunity to understand the opaque technologies used for alignment of language models and which values are embedded in them. To date, very few descriptors of capabilities, training methods, or open-source reward models exist. In this paper, we present RewardBench, a benchmark dataset and code-base for evaluation, to enhance scientific understanding of reward models. The RewardBench dataset is a collection of prompt-win-lose trios spanning chat, reasoning, and safety, to benchmark how reward models perform on challenging, structured and out-of-distribution queries. We created specific comparison datasets for RMs that have subtle, but verifiable reasons (e.g. bugs, incorrect facts) why one answer should be preferred to another. On the RewardBench leaderboard, we evaluate reward models trained with a variety of methods, such as the direct MLE training of classifiers and the implicit reward modeling of Direct Preference Optimization (DPO), and on a spectrum of datasets. We present many findings on propensity for refusals, reasoning limitations, and instruction following shortcomings of various reward models towards a better understanding of the RLHF process.

Recent years have witnessed remarkable progress made in large language models (LLMs). Such advancements, while garnering significant attention, have concurrently elicited various concerns. The potential of these models is undeniably vast; however, they may yield texts that are imprecise, misleading, or even detrimental. Consequently, it becomes paramount to employ alignment techniques to ensure these models to exhibit behaviors consistent with human values. This survey endeavors to furnish an extensive exploration of alignment methodologies designed for LLMs, in conjunction with the extant capability research in this domain. Adopting the lens of AI alignment, we categorize the prevailing methods and emergent proposals for the alignment of LLMs into outer and inner alignment. We also probe into salient issues including the models' interpretability, and potential vulnerabilities to adversarial attacks. To assess LLM alignment, we present a wide variety of benchmarks and evaluation methodologies. After discussing the state of alignment research for LLMs, we finally cast a vision toward the future, contemplating the promising avenues of research that lie ahead. Our aspiration for this survey extends beyond merely spurring research interests in this realm. We also envision bridging the gap between the AI alignment research community and the researchers engrossed in the capability exploration of LLMs for both capable and safe LLMs.

Foundation models have emerged as a powerful tool for many AI problems. Despite the tremendous success of foundation models, effective adaptation to new tasks, particularly those with limited labels, remains an open question and lacks theoretical understanding. An emerging solution with recent success in vision and NLP involves finetuning a foundation model on a selection of relevant tasks, before its adaptation to a target task with limited labeled samples. In this paper, we study the theoretical justification of this multitask finetuning approach. Our theoretical analysis reveals that with a diverse set of related tasks, this multitask finetuning leads to reduced error in the target task, in comparison to directly adapting the same pretrained model. We quantify the relationship between finetuning tasks and target tasks by diversity and consistency metrics, and further propose a practical task selection algorithm. We substantiate our theoretical claims with extensive empirical evidence. Further, we present results affirming our task selection algorithm adeptly chooses related finetuning tasks, providing advantages to the model performance on target tasks. We believe our study shed new light on the effective adaptation of foundation models to new tasks that lack abundant labels. Our code is available at https://github.com/OliverXUZY/Foudation-Model_Multitask.

Vision-language models (VLMs) aligned with general human objectives, such as being harmless and hallucination-free, have become valuable assistants of humans in managing visual tasks. However, people with diversified backgrounds have different cognition even in the same situation. Consequently, they may have personalized expectations for VLM assistants. This highlights the urgent need to align VLM assistants with personalized situated cognition for real-world assistance. To study this problem, we first simplify it by characterizing individuals based on the sociological concept of Role-Set. Then, we propose to evaluate the individuals' actions to examine whether the personalized alignment is achieved. Further, we construct a benchmark named PCogAlignBench, which includes 18k instances and 20 individuals with different Role-Sets. Finally, we present a framework called PCogAlign, which constructs a cognition-aware and action-based reward model for personalized alignment. Experimental results and human evaluations demonstrate the reliability of the PCogAlignBench and the effectiveness of our proposed PCogAlign. We will open-source the constructed benchmark and code at https://github.com/NLPGM/PCogAlign.

Assistive agents should make humans' lives easier. Classically, such assistance is studied through the lens of inverse reinforcement learning, where an assistive agent (e.g., a chatbot, a robot) infers a human's intention and then selects actions to help the human reach that goal. This approach requires inferring intentions, which can be difficult in high-dimensional settings. We build upon prior work that studies assistance through the lens of empowerment: an assistive agent aims to maximize the influence of the human's actions such that they exert a greater control over the environmental outcomes and can solve tasks in fewer steps. We lift the major limitation of prior work in this area--scalability to high-dimensional settings--with contrastive successor representations. We formally prove that these representations estimate a similar notion of empowerment to that studied by prior work and provide a ready-made mechanism for optimizing it. Empirically, our proposed method outperforms prior methods on synthetic benchmarks, and scales to Overcooked, a cooperative game setting. Theoretically, our work connects ideas from information theory, neuroscience, and reinforcement learning, and charts a path for representations to play a critical role in solving assistive problems.

The ability to solve problems is a hallmark of intelligence and has been an enduring goal in AI. AI systems that can create programs as solutions to problems or assist developers in writing programs can increase productivity and make programming more accessible. Recently, pre-trained large language models have shown impressive abilities in generating new codes from natural language descriptions, repairing buggy codes, translating codes between languages, and retrieving relevant code segments. However, the evaluation of these models has often been performed in a scattered way on only one or two specific tasks, in a few languages, at a partial granularity (e.g., function) level and in many cases without proper training data. Even more concerning is that in most cases the evaluation of generated codes has been done in terms of mere lexical overlap rather than actual execution whereas semantic similarity (or equivalence) of two code segments depends only on their ``execution similarity'', i.e., being able to get the same output for a given input.

Embodied dialogue instruction following requires an agent to complete a complex sequence of tasks from a natural language exchange. The recent introduction of benchmarks (Padmakumar et al., 2022) raises the question of how best to train and evaluate models for this multi-turn, multi-agent, long-horizon task. This paper contributes to that conversation, by arguing that imitation learning (IL) and related low-level metrics are actually misleading and do not align with the goals of embodied dialogue research and may hinder progress. We provide empirical comparisons of metrics, analysis of three models, and make suggestions for how the field might best progress. First, we observe that models trained with IL take spurious actions during evaluation. Second, we find that existing models fail to ground query utterances, which are essential for task completion. Third, we argue evaluation should focus on higher-level semantic goals.

Human-AI planning for complex goals remains challenging with current large language models (LLMs), which rely on linear chat histories and simplistic memory mechanisms. Despite advances in long-context prompting, users still manually manage information, leading to a high cognitive burden. Hence, we propose JumpStarter, a system that enables LLMs to collaborate with humans on complex goals by dynamically decomposing tasks to help users manage context. We specifically introduce task-structured context curation, a novel framework that breaks down a user's goal into a hierarchy of actionable subtasks, and scopes context to localized decision points, enabling finer-grained personalization and reuse. The framework is realized through three core mechanisms: context elicitation, selection, and reuse. We demonstrate that task-structured context curation significantly improves plan quality by 16% over ablations. Our user study shows that JumpStarter helped users generate plans with 79% higher quality compared to ChatGPT.

Large Language Models (LLMs) have achieved considerable performance across various agentic planning tasks. However, traditional agent planning approaches adopt a "flood irrigation" methodology that indiscriminately injects gold trajectories, external feedback, and domain knowledge into agent models. This practice overlooks the fundamental human cognitive principle of situational self-awareness during decision-making-the ability to dynamically assess situational demands and strategically employ resources during decision-making. We propose agentic knowledgeable self-awareness to address this gap, a novel paradigm enabling LLM-based agents to autonomously regulate knowledge utilization. Specifically, we propose KnowSelf, a data-centric approach that applies agents with knowledgeable self-awareness like humans. Concretely, we devise a heuristic situation judgement criterion to mark special tokens on the agent's self-explored trajectories for collecting training data. Through a two-stage training process, the agent model can switch between different situations by generating specific special tokens, achieving optimal planning effects with minimal costs. Our experiments demonstrate that KnowSelf can outperform various strong baselines on different tasks and models with minimal use of external knowledge. Code is available at https://github.com/zjunlp/KnowSelf.

Despite notable advancements in Multimodal Large Language Models (MLLMs), most state-of-the-art models have not undergone thorough alignment with human preferences. This gap exists because current alignment research has primarily achieved progress in specific areas (e.g., hallucination reduction), while the broader question of whether aligning models with human preferences can systematically enhance MLLM capability remains largely unexplored. To this end, we introduce MM-RLHF, a dataset containing 120k fine-grained, human-annotated preference comparison pairs. This dataset represents a substantial advancement over existing resources, offering superior size, diversity, annotation granularity, and quality. Leveraging this dataset, we propose several key innovations to improve both the quality of reward models and the efficiency of alignment algorithms. Notably, we introduce a Critique-Based Reward Model, which generates critiques of model outputs before assigning scores, offering enhanced interpretability and more informative feedback compared to traditional scalar reward mechanisms. Additionally, we propose Dynamic Reward Scaling, a method that adjusts the loss weight of each sample according to the reward signal, thereby optimizing the use of high-quality comparison pairs. Our approach is rigorously evaluated across 10 distinct dimensions and 27 benchmarks, with results demonstrating significant and consistent improvements in model performance. Specifically, fine-tuning LLaVA-ov-7B with MM-RLHF and our alignment algorithm leads to a 19.5% increase in conversational abilities and a 60% improvement in safety. We have open-sourced the preference dataset, reward model, training and evaluation code, as well as reward modeling and safety benchmarks. For more details, please visit our project page: https://mm-rlhf.github.io.

Reward models are essential for aligning language model outputs with human preferences, yet existing approaches often lack both controllability and interpretability. These models are typically optimized for narrow objectives, limiting their generalizability to broader downstream tasks. Moreover, their scalar outputs are difficult to interpret without contextual reasoning. To address these limitations, we introduce R3, a novel reward modeling framework that is rubric-agnostic, generalizable across evaluation dimensions, and provides interpretable, reasoned score assignments. R3 enables more transparent and flexible evaluation of language models, supporting robust alignment with diverse human values and use cases. Our models, data, and code are available as open source at https://github.com/rubricreward/r3

Assessing long-form responses generated by Vision-Language Models (VLMs) is challenging. It not only requires checking whether the VLM follows the given instruction but also verifying whether the text output is properly grounded on the given image. Inspired by the recent approach of evaluating LMs with LMs, in this work, we propose to evaluate VLMs with VLMs. For this purpose, we present a new feedback dataset called the Perception Collection, encompassing 15K customized score rubrics that users might care about during assessment. Using the Perception Collection, we train Prometheus-Vision, the first open-source VLM evaluator model that can understand the user-defined score criteria during evaluation. Prometheus-Vision shows the highest Pearson correlation with human evaluators and GPT-4V among open-source models, showing its effectiveness for transparent and accessible evaluation of VLMs. We open-source our code, dataset, and model at https://github.com/kaistAI/prometheus-vision

Vision-Language Models (VLMs) have transformed tasks requiring visual and reasoning abilities, such as image retrieval and Visual Question Answering (VQA). Despite their success, VLMs face significant challenges with tasks involving geometric reasoning, algebraic problem-solving, and counting. These limitations stem from difficulties effectively integrating multiple modalities and accurately interpreting geometry-related tasks. Various works claim that introducing a captioning pipeline before VQA tasks enhances performance. We incorporated this pipeline for tasks involving geometry, algebra, and counting. We found that captioning results are not generalizable, specifically with larger VLMs primarily trained on downstream QnA tasks showing random performance on math-related challenges. However, we present a promising alternative: task-based prompting, enriching the prompt with task-specific guidance. This approach shows promise and proves more effective than direct captioning methods for math-heavy problems.

Large language models (LLMs) have demonstrated remarkable capabilities across a range of text-generation tasks. However, LLMs still struggle with problems requiring multi-step decision-making and environmental feedback, such as online shopping, scientific reasoning, and mathematical problem-solving. Unlike pure text data, collecting large-scale decision-making data is challenging. Moreover, many powerful LLMs are only accessible through APIs, which hinders their fine-tuning for agent tasks due to cost and complexity. To address LLM agents' limitations, we propose a framework that can automatically learn a reward model from the environment without human annotations. This model can be used to evaluate the action trajectories of LLM agents and provide heuristics for task planning. Specifically, our approach involves employing one LLM-based agent to navigate an environment randomly, generating diverse action trajectories. Subsequently, a separate LLM is leveraged to assign a task intent and synthesize a negative response alongside the correct response for each trajectory. These triplets (task intent, positive response, and negative response) are then utilized as training data to optimize a reward model capable of scoring action trajectories. The effectiveness and generalizability of our framework are demonstrated through evaluations conducted on different agent benchmarks. In conclusion, our proposed framework represents a significant advancement in enhancing LLM agents' decision-making capabilities. By automating the learning of reward models, we overcome the challenges of data scarcity and API limitations, potentially revolutionizing the application of LLMs in complex and interactive environments. This research paves the way for more sophisticated AI agents capable of tackling a wide range of real-world problems requiring multi-step decision-making.

Effectively retrieving, reasoning and understanding visually rich information remains a challenge for RAG methods. Traditional text-based methods cannot handle visual-related information. On the other hand, current vision-based RAG approaches are often limited by fixed pipelines and frequently struggle to reason effectively due to the insufficient activation of the fundamental capabilities of models. As RL has been proven to be beneficial for model reasoning, we introduce VRAG-RL, a novel RL framework tailored for complex reasoning across visually rich information. With this framework, VLMs interact with search engines, autonomously sampling single-turn or multi-turn reasoning trajectories with the help of visual perception tokens and undergoing continual optimization based on these samples. Our approach highlights key limitations of RL in RAG domains: (i) Prior Multi-modal RAG approaches tend to merely incorporate images into the context, leading to insufficient reasoning token allocation and neglecting visual-specific perception; and (ii) When models interact with search engines, their queries often fail to retrieve relevant information due to the inability to articulate requirements, thereby leading to suboptimal performance. To address these challenges, we define an action space tailored for visually rich inputs, with actions including cropping and scaling, allowing the model to gather information from a coarse-to-fine perspective. Furthermore, to bridge the gap between users' original inquiries and the retriever, we employ a simple yet effective reward that integrates query rewriting and retrieval performance with a model-based reward. Our VRAG-RL optimizes VLMs for RAG tasks using specially designed RL strategies, aligning the model with real-world applications. The code is available at https://github.com/Alibaba-NLP/VRAG{https://github.com/Alibaba-NLP/VRAG}.

Large Language Models (LLMs) are nowadays expected to generate content aligned with human preferences. Current work focuses on alignment at model training time, through techniques such as Reinforcement Learning with Human Feedback (RLHF). However, it is unclear if such methods are an effective choice to teach alignment objectives to the model. First, the inability to incorporate multiple, custom rewards and reliance on a model developer's view of universal and static principles are key limitations. Second, the residual gaps in model training and the reliability of such approaches are also questionable (e.g. susceptibility to jail-breaking even after safety training). To address these, we propose DeAL, a framework that allows the user to customize reward functions and enables Decoding-time Alignment of LLMs (DeAL). At its core, we view decoding as a heuristic-guided search process and facilitate the use of a wide variety of alignment objectives. Our experiments with programmatic constraints such as keyword and length constraints (studied widely in the pre-LLM era) and abstract objectives such as harmlessness and helpfulness (proposed in the post-LLM era) show that we can DeAL with fine-grained trade-offs, improve adherence to alignment objectives, and address residual gaps in LLMs. Lastly, while DeAL can be effectively paired with RLHF and prompting techniques, its generality makes decoding slower, an optimization we leave for future work.

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform this task in both simulation and the real world. Our modular method solves sub-tasks of exploration, goal instance re-identification, goal localization, and local navigation. We re-identify the goal instance in egocentric vision using feature-matching and localize the goal instance by projecting matched features to a map. Each sub-task is solved using off-the-shelf components requiring zero fine-tuning. On the HM3D InstanceImageNav benchmark, this system outperforms a baseline end-to-end RL policy 7x and a state-of-the-art ImageNav model 2.3x (56% vs 25% success). We deploy this system to a mobile robot platform and demonstrate effective real-world performance, achieving an 88% success rate across a home and an office environment.

The widespread adoption of large language models (LLMs) makes it important to recognize their strengths and limitations. We argue that in order to develop a holistic understanding of these systems we need to consider the problem that they were trained to solve: next-word prediction over Internet text. By recognizing the pressures that this task exerts we can make predictions about the strategies that LLMs will adopt, allowing us to reason about when they will succeed or fail. This approach - which we call the teleological approach - leads us to identify three factors that we hypothesize will influence LLM accuracy: the probability of the task to be performed, the probability of the target output, and the probability of the provided input. We predict that LLMs will achieve higher accuracy when these probabilities are high than when they are low - even in deterministic settings where probability should not matter. To test our predictions, we evaluate two LLMs (GPT-3.5 and GPT-4) on eleven tasks, and we find robust evidence that LLMs are influenced by probability in the ways that we have hypothesized. In many cases, the experiments reveal surprising failure modes. For instance, GPT-4's accuracy at decoding a simple cipher is 51% when the output is a high-probability word sequence but only 13% when it is low-probability. These results show that AI practitioners should be careful about using LLMs in low-probability situations. More broadly, we conclude that we should not evaluate LLMs as if they are humans but should instead treat them as a distinct type of system - one that has been shaped by its own particular set of pressures.

Within Human Activity Recognition (HAR), there is an insurmountable gap between the range of activities performed in life and those that can be captured in an annotated sensor dataset used in training. Failure to properly handle unseen activities seriously undermines any HAR classifier's reliability. Additionally within HAR, not all classes are equally dissimilar, some significantly overlap or encompass other sub-activities. Based on these observations, we arrange activity classes into a structured hierarchy. From there, we propose Hi-OSCAR: a Hierarchical Open-set Classifier for Activity Recognition, that can identify known activities at state-of-the-art accuracy while simultaneously rejecting unknown activities. This not only enables open-set classification, but also allows for unknown classes to be localized to the nearest internal node, providing insight beyond a binary "known/unknown" classification. To facilitate this and future open-set HAR research, we collected a new dataset: NFI_FARED. NFI_FARED contains data from multiple subjects performing nineteen activities from a range of contexts, including daily living, commuting, and rapid movements, which is fully public and available for download.

Understanding user intent is essential for effective planning in conversational assistants, particularly those powered by large language models (LLMs) coordinating multiple agents. However, real-world dialogues are often ambiguous, underspecified, or dynamic, making intent detection a persistent challenge. Traditional classification-based approaches struggle to generalize in open-ended settings, leading to brittle interpretations and poor downstream planning. We propose RECAP (REwriting Conversations for Agent Planning), a new benchmark designed to evaluate and advance intent rewriting, reframing user-agent dialogues into concise representations of user goals. RECAP captures diverse challenges such as ambiguity, intent drift, vagueness, and mixed-goal conversations. Alongside the dataset, we introduce an LLM-based evaluator that assesses planning utility given the rewritten intent. Using RECAP, we develop a prompt-based rewriting approach that outperforms baselines. We further demonstrate that fine-tuning two DPO-based rewriters yields additional utility gains. Our results highlight intent rewriting as a critical and tractable component for improving agent planning in open-domain dialogue systems.

Reinforcement learning (RL) requires either manually specifying a reward function, which is often infeasible, or learning a reward model from a large amount of human feedback, which is often very expensive. We study a more sample-efficient alternative: using pretrained vision-language models (VLMs) as zero-shot reward models (RMs) to specify tasks via natural language. We propose a natural and general approach to using VLMs as reward models, which we call VLM-RMs. We use VLM-RMs based on CLIP to train a MuJoCo humanoid to learn complex tasks without a manually specified reward function, such as kneeling, doing the splits, and sitting in a lotus position. For each of these tasks, we only provide a single sentence text prompt describing the desired task with minimal prompt engineering. We provide videos of the trained agents at: https://sites.google.com/view/vlm-rm. We can improve performance by providing a second ``baseline'' prompt and projecting out parts of the CLIP embedding space irrelevant to distinguish between goal and baseline. Further, we find a strong scaling effect for VLM-RMs: larger VLMs trained with more compute and data are better reward models. The failure modes of VLM-RMs we encountered are all related to known capability limitations of current VLMs, such as limited spatial reasoning ability or visually unrealistic environments that are far off-distribution for the VLM. We find that VLM-RMs are remarkably robust as long as the VLM is large enough. This suggests that future VLMs will become more and more useful reward models for a wide range of RL applications.

While theories of discourse and cognitive science have long recognized the value of unhurried pacing, recent dialogue research tends to minimize friction in conversational systems. Yet, frictionless dialogue risks fostering uncritical reliance on AI outputs, which can obscure implicit assumptions and lead to unintended consequences. To meet this challenge, we propose integrating positive friction into conversational AI, which promotes user reflection on goals, critical thinking on system response, and subsequent re-conditioning of AI systems. We hypothesize systems can improve goal alignment, modeling of user mental states, and task success by deliberately slowing down conversations in strategic moments to ask questions, reveal assumptions, or pause. We present an ontology of positive friction and collect expert human annotations on multi-domain and embodied goal-oriented corpora. Experiments on these corpora, along with simulated interactions using state-of-the-art systems, suggest incorporating friction not only fosters accountable decision-making, but also enhances machine understanding of user beliefs and goals, and increases task success rates.

LLM-based (Large Language Model) GUI (Graphical User Interface) agents can potentially reshape our daily lives significantly. However, current LLM-based GUI agents suffer from the scarcity of high-quality training data owing to the difficulties of trajectory collection and reward annotation. Existing works have been exploring LLMs to collect trajectories for imitation learning or to offer reward signals for online RL training. However, the Outcome Reward Model (ORM) used in existing works cannot provide finegrained feedback and can over-penalize the valuable steps in finally failed trajectories. To this end, we propose Progress Reward Model (ProgRM) to provide dense informative intermediate rewards by predicting a task completion progress for each step in online training. To handle the challenge of progress reward label annotation, we further design an efficient LCS-based (Longest Common Subsequence) self-annotation algorithm to discover the key steps in trajectories and assign progress labels accordingly. ProgRM is evaluated with extensive experiments and analyses. Actors trained with ProgRM outperform leading proprietary LLMs and ORM-trained actors, illustrating the effectiveness of ProgRM. The codes for experiments will be made publicly available upon acceptance.

We present a new general learning approach for action recognition, Prompt Learning for Action Recognition (PLAR), which leverages the strengths of prompt learning to guide the learning process. Our approach is designed to predict the action label by helping the models focus on the descriptions or instructions associated with actions in the input videos. Our formulation uses various prompts, including optical flow, large vision models, and learnable prompts to improve the recognition performance. Moreover, we propose a learnable prompt method that learns to dynamically generate prompts from a pool of prompt experts under different inputs. By sharing the same objective, our proposed PLAR can optimize prompts that guide the model's predictions while explicitly learning input-invariant (prompt experts pool) and input-specific (data-dependent) prompt knowledge. We evaluate our approach on datasets consisting of both ground camera videos and aerial videos, and scenes with single-agent and multi-agent actions. In practice, we observe a 3.17-10.2% accuracy improvement on the aerial multi-agent dataset, Okutamam and 0.8-2.6% improvement on the ground camera single-agent dataset, Something Something V2. We plan to release our code on the WWW.

Embodied agents operating in real-world environments must interpret ambiguous and under-specified human instructions. A capable household robot should recognize ambiguity and ask relevant clarification questions to infer the user intent accurately, leading to more effective task execution. To study this problem, we introduce the Ask-to-Act task, where an embodied agent must fetch a specific object instance given an ambiguous instruction in a home environment. The agent must strategically ask minimal, yet relevant, clarification questions to resolve ambiguity while navigating under partial observability. To solve this problem, we propose a novel approach that fine-tunes multimodal large language models (MLLMs) as vision-language-action (VLA) policies using online reinforcement learning (RL) with LLM-generated rewards. Our method eliminates the need for large-scale human demonstrations or manually engineered rewards for training such agents. We benchmark against strong zero-shot baselines, including GPT-4o, and supervised fine-tuned MLLMs, on our task. Our results demonstrate that our RL-finetuned MLLM outperforms all baselines by a significant margin (19.1-40.3%), generalizing well to novel scenes and tasks. To the best of our knowledge, this is the first demonstration of adapting MLLMs as VLA agents that can act and ask for help using LLM-generated rewards with online RL.

In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors. Our method is based on an attention-based end-to-end model that leverages an episodic memory to learn to navigate. First, we train a state-embedding network in a self-supervised fashion, and then use it to embed previously-visited states into the agent's memory. Our navigation policy takes advantage of this information through an attention mechanism. We validate our approach with extensive evaluations, and show that our model establishes a new state of the art on the challenging Gibson dataset. Furthermore, we achieve this impressive performance from RGB input alone, without access to additional information such as position or depth, in stark contrast to related work.

Effective planning requires strong world models, but high-level world models that can understand and reason about actions with semantic and temporal abstraction remain largely underdeveloped. We introduce the Vision Language World Model (VLWM), a foundation model trained for language-based world modeling on natural videos. Given visual observations, the VLWM first infers the overall goal achievements then predicts a trajectory composed of interleaved actions and world state changes. Those targets are extracted by iterative LLM Self-Refine conditioned on compressed future observations represented by Tree of Captions. The VLWM learns both an action policy and a dynamics model, which respectively facilitates reactive system-1 plan decoding and reflective system-2 planning via cost minimization. The cost evaluates the semantic distance between the hypothetical future states given by VLWM roll-outs and the expected goal state, and is measured by a critic model that we trained in a self-supervised manner. The VLWM achieves state-of-the-art Visual Planning for Assistance (VPA) performance on both benchmark evaluations and our proposed PlannerArena human evaluations, where system-2 improves the Elo score by +27% upon system-1. The VLWM models also outperforms strong VLM baselines on RoboVQA and WorldPrediction benchmark.