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This paper introduces a method to enhance Interactive Imitation Learning (IIL) by extracting touch interaction points and tracking object movement from video demonstrations. The approach extends current IIL systems by providing robots with detailed knowledge of both where and how to interact with objects, particularly complex articulated ones like doors and drawers. By leveraging cutting-edge techniques such as 3D Gaussian Splatting and FoundationPose for tracking, this method allows robots to better understand and manipulate objects in dynamic environments. The research lays the foundation for more effective task learning and execution in autonomous robotic systems.

Preference optimization, particularly through Reinforcement Learning from Human Feedback (RLHF), has achieved significant success in aligning Large Language Models (LLMs) to adhere to human intentions. Unlike offline alignment with a fixed dataset, online feedback collection from humans or AI on model generations typically leads to more capable reward models and better-aligned LLMs through an iterative process. However, achieving a globally accurate reward model requires systematic exploration to generate diverse responses that span the vast space of natural language. Random sampling from standard reward-maximizing LLMs alone is insufficient to fulfill this requirement. To address this issue, we propose a bilevel objective optimistically biased towards potentially high-reward responses to actively explore out-of-distribution regions. By solving the inner-level problem with the reparameterized reward function, the resulting algorithm, named Self-Exploring Language Models (SELM), eliminates the need for a separate RM and iteratively updates the LLM with a straightforward objective. Compared to Direct Preference Optimization (DPO), the SELM objective reduces indiscriminate favor of unseen extrapolations and enhances exploration efficiency. Our experimental results demonstrate that when fine-tuned on Zephyr-7B-SFT and Llama-3-8B-Instruct models, SELM significantly boosts the performance on instruction-following benchmarks such as MT-Bench and AlpacaEval 2.0, as well as various standard academic benchmarks in different settings. Our code and models are available at //github.com/shenao-zhang/SELM.

We introduce AmbigNLG, a novel task designed to tackle the challenge of task ambiguity in instructions for Natural Language Generation (NLG). Ambiguous instructions often impede the performance of Large Language Models (LLMs), especially in complex NLG tasks. To tackle this issue, we propose an ambiguity taxonomy that categorizes different types of instruction ambiguities and refines initial instructions with clearer specifications. Accompanying this task, we present AmbigSNI-NLG, a dataset comprising 2,500 instances annotated to facilitate research in AmbigNLG. Through comprehensive experiments with state-of-the-art LLMs, we demonstrate that our method significantly enhances the alignment of generated text with user expectations, achieving up to a 15.02-point increase in ROUGE scores. Our findings highlight the critical importance of addressing task ambiguity to fully harness the capabilities of LLMs in NLG tasks. Furthermore, we confirm the effectiveness of our method in practical settings involving interactive ambiguity mitigation with users, underscoring the benefits of leveraging LLMs for interactive clarification.

We introduce EMMA, an End-to-end Multimodal Model for Autonomous driving. Built on a multi-modal large language model foundation, EMMA directly maps raw camera sensor data into various driving-specific outputs, including planner trajectories, perception objects, and road graph elements. EMMA maximizes the utility of world knowledge from the pre-trained large language models, by representing all non-sensor inputs (e.g. navigation instructions and ego vehicle status) and outputs (e.g. trajectories and 3D locations) as natural language text. This approach allows EMMA to jointly process various driving tasks in a unified language space, and generate the outputs for each task using task-specific prompts. Empirically, we demonstrate EMMA's effectiveness by achieving state-of-the-art performance in motion planning on nuScenes as well as competitive results on the Waymo Open Motion Dataset (WOMD). EMMA also yields competitive results for camera-primary 3D object detection on the Waymo Open Dataset (WOD). We show that co-training EMMA with planner trajectories, object detection, and road graph tasks yields improvements across all three domains, highlighting EMMA's potential as a generalist model for autonomous driving applications. However, EMMA also exhibits certain limitations: it can process only a small amount of image frames, does not incorporate accurate 3D sensing modalities like LiDAR or radar and is computationally expensive. We hope that our results will inspire further research to mitigate these issues and to further evolve the state of the art in autonomous driving model architectures.

Entity alignment (EA) refers to the task of linking entities in different knowledge graphs (KGs). Existing EA methods rely heavily on structural isomorphism. However, in real-world KGs, aligned entities usually have non-isomorphic neighborhood structures, which paralyses the application of these structure-dependent methods. In this paper, we investigate and tackle the problem of entity alignment between heterogeneous KGs. First, we propose two new benchmarks to closely simulate real-world EA scenarios of heterogeneity. Then we conduct extensive experiments to evaluate the performance of representative EA methods on the new benchmarks. Finally, we propose a simple and effective entity alignment framework called Attr-Int, in which innovative attribute information interaction methods can be seamlessly integrated with any embedding encoder for entity alignment, improving the performance of existing entity alignment techniques. Experiments demonstrate that our framework outperforms the state-of-the-art approaches on two new benchmarks.

Chain of thought (CoT) is a reasoning framework that can enhance the performance of Large Language Models (LLMs) on complex inference tasks. In particular, among various studies related to CoT, multi-path inference stands out as a simple yet effective improvement. However, there is no optimal setting for the number of inference paths. Therefore, we have to increase the number of inference paths to obtain better results, which in turn increases the inference cost. To address this limitation, we can utilize question-related role templates to guide LLMs into relevant roles, thereby increasing the possibility of correct inferences for each path and further reducing dependence on the number of inference paths while improving reasoning accuracy. However, placing LLMs into specific roles may reduce their reasoning diversity and performance on a few tasks where role dependence is low. To alleviate the excessive immersion of the LLM into a specific role, we propose Nash CoT by constructing a competitive system on each path that balances the generation from role-specific LLMs' and the general LLMs' generation, thereby ensuring both effective role adoption and diversity in LLM generation further maintaining the performance of multi-path inference while reducing the requirement of the number of inference paths. We evaluate Nash CoT across various inference tasks, including Arabic Reasoning, Commonsense Question Answering, and Symbolic Inference, achieving results that are comparable to or better than those of multi-path CoT with the equal number of inference paths.

Large Language Models (LLMs) have achieved remarkable success in various natural language processing tasks, including language modeling, understanding, and generation. However, the increased memory and computational costs associated with these models pose significant challenges for deployment on resource-limited devices. Structural pruning has emerged as a promising solution to reduce the costs of LLMs without requiring post-processing steps. Prior structural pruning methods either follow the dependence of structures at the cost of limiting flexibility, or introduce non-trivial additional parameters by incorporating different projection matrices. In this work, we propose a novel approach that relaxes the constraint imposed by regular structural pruning methods and eliminates the structural dependence along the embedding dimension. Our dimension-independent structural pruning method offers several benefits. Firstly, our method enables different blocks to utilize different subsets of the feature maps. Secondly, by removing structural dependence, we facilitate each block to possess varying widths along its input and output dimensions, thereby significantly enhancing the flexibility of structural pruning. We evaluate our method on various LLMs, including OPT, LLaMA, LLaMA-2, Phi-1.5, and Phi-2. Experimental results demonstrate that our approach outperforms other state-of-the-art methods, showing for the first time that structural pruning can achieve an accuracy similar to semi-structural pruning.

Spurred by the demand for interpretable models, research on eXplainable AI for language technologies has experienced significant growth, with feature attribution methods emerging as a cornerstone of this progress. While prior work in NLP explored such methods for classification tasks and textual applications, explainability intersecting generation and speech is lagging, with existing techniques failing to account for the autoregressive nature of state-of-the-art models and to provide fine-grained, phonetically meaningful explanations. We address this gap by introducing Spectrogram Perturbation for Explainable Speech-to-text Generation (SPES), a feature attribution technique applicable to sequence generation tasks with autoregressive models. SPES provides explanations for each predicted token based on both the input spectrogram and the previously generated tokens. Extensive evaluation on speech recognition and translation demonstrates that SPES generates explanations that are faithful and plausible to humans.

We present CoDEx, a set of knowledge graph completion datasets extracted from Wikidata and Wikipedia that improve upon existing knowledge graph completion benchmarks in scope and level of difficulty. In terms of scope, CoDEx comprises three knowledge graphs varying in size and structure, multilingual descriptions of entities and relations, and tens of thousands of hard negative triples that are plausible but verified to be false. To characterize CoDEx, we contribute thorough empirical analyses and benchmarking experiments. First, we analyze each CoDEx dataset in terms of logical relation patterns. Next, we report baseline link prediction and triple classification results on CoDEx for five extensively tuned embedding models. Finally, we differentiate CoDEx from the popular FB15K-237 knowledge graph completion dataset by showing that CoDEx covers more diverse and interpretable content, and is a more difficult link prediction benchmark. Data, code, and pretrained models are available at //bit.ly/2EPbrJs.