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This work introduces a framework harnessing the capabilities of Large Language Models (LLMs) to generate primitive task conditions for generalizable long-horizon manipulations with novel objects and unseen tasks. These task conditions serve as guides for the generation and adjustment of Dynamic Movement Primitives (DMP) trajectories for long-horizon task execution. We further create a challenging robotic manipulation task suite based on Pybullet for long-horizon task evaluation. Extensive experiments in both simulated and real-world environments demonstrate the effectiveness of our framework on both familiar tasks involving new objects and novel but related tasks, highlighting the potential of LLMs in enhancing robotic system versatility and adaptability. Project website: //object814.github.io/Task-Condition-With-LLM/

Large Language Models (LLMs) have garnered significant attention for their advancements in natural language processing, demonstrating unparalleled prowess in text comprehension and generation. Yet, the simultaneous generation of images with coherent textual narratives remains an evolving frontier. In response, we introduce an innovative interleaved vision-and-language generation technique anchored by the concept of "generative vokens," acting as the bridge for harmonized image-text outputs. Our approach is characterized by a distinctive two-staged training strategy focusing on description-free multimodal generation, where the training requires no comprehensive descriptions of images. To bolster model integrity, classifier-free guidance is incorporated, enhancing the effectiveness of vokens on image generation. Our model, MiniGPT-5, exhibits substantial improvement over the baseline Divter model on the MMDialog dataset and consistently delivers superior or comparable multimodal outputs in human evaluations on the VIST dataset, highlighting its efficacy across diverse benchmarks.

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities with a pre-trained LLM to improve context understanding in driving situations. We also present a new dataset of 160k QA pairs derived from 10k driving scenarios, paired with high quality control commands collected with RL agent and question answer pairs generated by teacher LLM (GPT-3.5). A distinct pretraining strategy is devised to align numeric vector modalities with static LLM representations using vector captioning language data. We also introduce an evaluation metric for Driving QA and demonstrate our LLM-driver's proficiency in interpreting driving scenarios, answering questions, and decision-making. Our findings highlight the potential of LLM-based driving action generation in comparison to traditional behavioral cloning. We make our benchmark, datasets, and model available for further exploration.

Privacy-Preserving ML (PPML) based on Homomorphic Encryption (HE) is a promising foundational privacy technology. Making it more practical requires lowering its computational cost, especially, in handling modern large deep neural networks. Model compression via pruning is highly effective in conventional plaintext ML but cannot be effectively applied to HE-PPML as is. We propose Artemis, a highly effective DNN pruning technique for HE-based inference. We judiciously investigate two HE-aware pruning strategies (positional and diagonal) to reduce the number of Rotation operations, which dominate compute time in HE convolution. We find that Pareto-optimal solutions are based fully on diagonal pruning. Artemis' benefits come from coupling DNN training, driven by a novel group Lasso regularization objective, with pruning to maximize HE-specific cost reduction (dominated by the Rotation operations). We show that Artemis improves on prior HE-oriented pruning and can achieve a 1.2-6x improvement when targeting modern convolutional models (ResNet18 and ResNet18) across three datasets.

The recent GPT-4 has demonstrated extraordinary multi-modal abilities, such as directly generating websites from handwritten text and identifying humorous elements within images. These features are rarely observed in previous vision-language models. However, the technical details behind GPT-4 continue to remain undisclosed. We believe that the enhanced multi-modal generation capabilities of GPT-4 stem from the utilization of sophisticated large language models (LLM). To examine this phenomenon, we present MiniGPT-4, which aligns a frozen visual encoder with a frozen advanced LLM, Vicuna, using one projection layer. Our work, for the first time, uncovers that properly aligning the visual features with an advanced large language model can possess numerous advanced multi-modal abilities demonstrated by GPT-4, such as detailed image description generation and website creation from hand-drawn drafts. Furthermore, we also observe other emerging capabilities in MiniGPT-4, including writing stories and poems inspired by given images, teaching users how to cook based on food photos, and so on. In our experiment, we found that the model trained on short image caption pairs could produce unnatural language outputs (e.g., repetition and fragmentation). To address this problem, we curate a detailed image description dataset in the second stage to finetune the model, which consequently improves the model's generation reliability and overall usability. Our code, pre-trained model, and collected dataset are available at //minigpt-4.github.io/.

Speech emotion recognition (SER) has drawn increasing attention for its applications in human-machine interaction. However, existing SER methods ignore the information gap between the pre-training speech recognition task and the downstream SER task, leading to sub-optimal performance. Moreover, they require much time to fine-tune on each specific speech dataset, restricting their effectiveness in real-world scenes with large-scale noisy data. To address these issues, we propose an active learning (AL) based Fine-Tuning framework for SER that leverages task adaptation pre-training (TAPT) and AL methods to enhance performance and efficiency. Specifically, we first use TAPT to minimize the information gap between the pre-training and the downstream task. Then, AL methods are used to iteratively select a subset of the most informative and diverse samples for fine-tuning, reducing time consumption. Experiments demonstrate that using only 20\%pt. samples improves 8.45\%pt. accuracy and reduces 79\%pt. time consumption.

There is a growing interest in using Large Language Models (LLMs) as agents to tackle real-world tasks that may require assessing complex situations. Yet, we have a limited understanding of LLMs' reasoning and decision-making capabilities, partly stemming from a lack of dedicated evaluation benchmarks. As negotiating and compromising are key aspects of our everyday communication and collaboration, we propose using scorable negotiation games as a new evaluation framework for LLMs. We create a testbed of diverse text-based, multi-agent, multi-issue, semantically rich negotiation games, with easily tunable difficulty. To solve the challenge, agents need to have strong arithmetic, inference, exploration, and planning capabilities, while seamlessly integrating them. Via a systematic zero-shot Chain-of-Thought prompting (CoT), we show that agents can negotiate and consistently reach successful deals. We quantify the performance with multiple metrics and observe a large gap between GPT-4 and earlier models. Importantly, we test the generalization to new games and setups. Finally, we show that these games can help evaluate other critical aspects, such as the interaction dynamics between agents in the presence of greedy and adversarial players.

With the increasing demands in communication, Wi-Fi technology is advancing towards its next generation. Building on the foundation of Wi-Fi 7, millimeter-wave technology is anticipated to converge with Wi-Fi 8 in the near future. In this paper, we look into the millimeter-wave technology and other potential feasible features, providing a comprehensive perspective on the future of Wi-Fi 8. Our simulation results demonstrate that significant performance gains can be achieved, even in the presence of hardware impairments.

Recent artificial intelligence (AI) systems have reached milestones in "grand challenges" ranging from Go to protein-folding. The capability to retrieve medical knowledge, reason over it, and answer medical questions comparably to physicians has long been viewed as one such grand challenge. Large language models (LLMs) have catalyzed significant progress in medical question answering; Med-PaLM was the first model to exceed a "passing" score in US Medical Licensing Examination (USMLE) style questions with a score of 67.2% on the MedQA dataset. However, this and other prior work suggested significant room for improvement, especially when models' answers were compared to clinicians' answers. Here we present Med-PaLM 2, which bridges these gaps by leveraging a combination of base LLM improvements (PaLM 2), medical domain finetuning, and prompting strategies including a novel ensemble refinement approach. Med-PaLM 2 scored up to 86.5% on the MedQA dataset, improving upon Med-PaLM by over 19% and setting a new state-of-the-art. We also observed performance approaching or exceeding state-of-the-art across MedMCQA, PubMedQA, and MMLU clinical topics datasets. We performed detailed human evaluations on long-form questions along multiple axes relevant to clinical applications. In pairwise comparative ranking of 1066 consumer medical questions, physicians preferred Med-PaLM 2 answers to those produced by physicians on eight of nine axes pertaining to clinical utility (p < 0.001). We also observed significant improvements compared to Med-PaLM on every evaluation axis (p < 0.001) on newly introduced datasets of 240 long-form "adversarial" questions to probe LLM limitations. While further studies are necessary to validate the efficacy of these models in real-world settings, these results highlight rapid progress towards physician-level performance in medical question answering.

Seeking the equivalent entities among multi-source Knowledge Graphs (KGs) is the pivotal step to KGs integration, also known as \emph{entity alignment} (EA). However, most existing EA methods are inefficient and poor in scalability. A recent summary points out that some of them even require several days to deal with a dataset containing 200,000 nodes (DWY100K). We believe over-complex graph encoder and inefficient negative sampling strategy are the two main reasons. In this paper, we propose a novel KG encoder -- Dual Attention Matching Network (Dual-AMN), which not only models both intra-graph and cross-graph information smartly, but also greatly reduces computational complexity. Furthermore, we propose the Normalized Hard Sample Mining Loss to smoothly select hard negative samples with reduced loss shift. The experimental results on widely used public datasets indicate that our method achieves both high accuracy and high efficiency. On DWY100K, the whole running process of our method could be finished in 1,100 seconds, at least 10* faster than previous work. The performances of our method also outperform previous works across all datasets, where Hits@1 and MRR have been improved from 6% to 13%.