Learning from demonstration is a promising way of teaching robots new skills. However, a central problem when executing acquired skills is to recognize risks and failures. This is essential since the demonstrations usually cover only a few mostly successful cases. Inevitable errors during execution require specific reactions that were not apparent in the demonstrations. In this paper, we focus on teaching the robot situational awareness from an initial skill demonstration via kinesthetic teaching and sparse labeling of autonomous skill executions as safe or risky. At runtime, our system, called ILeSiA, detects risks based on the perceived camera images by encoding the images into a low-dimensional latent space representation and training a classifier based on the encoding and the provided labels. In this way, ILeSiA boosts the confidence and safety with which robotic skills can be executed. Our experiments demonstrate that classifiers, trained with only a small amount of user-provided data, can successfully detect numerous risks. The system is flexible because the risk cases are defined by labeling data. This also means that labels can be added as soon as risks are identified by a human supervisor. We provide all code and data required to reproduce our experiments at imitrob.ciirc.cvut.cz/publications/ilesia.
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What distinguishes robust models from non-robust ones? While for ImageNet distribution shifts it has been shown that such differences in robustness can be traced back predominantly to differences in training data, so far it is not known what that translates to in terms of what the model has learned. In this work, we bridge this gap by probing the representation spaces of 16 robust zero-shot CLIP vision encoders with various backbones (ResNets and ViTs) and pretraining sets (OpenAI, LAION-400M, LAION-2B, YFCC15M, CC12M and {DataComp}), and comparing them to the representation spaces of less robust models with identical backbones, but different (pre)training sets or objectives (CLIP pretraining on ImageNet-Captions, and supervised training or finetuning on ImageNet).Through this analysis, we generate three novel insights. Firstly, we detect the presence of outlier features in robust zero-shot CLIP vision encoders, which to the best of our knowledge is the first time these are observed in non-language and non-transformer models. Secondly, we find the existence of outlier features to be an indication of ImageNet shift robustness in models, since we only find them in robust models in our analysis. Lastly, we also investigate the number of unique encoded concepts in the representation space and find zero-shot CLIP models to encode a higher number of unique concepts in their representation space. However, we do not find this to be an indicator of ImageNet shift robustness and hypothesize that it is rather related to the language supervision. Since the presence of outlier features can be detected without access to any data from shifted datasets, we believe that they could be a useful tool for practitioners to get a feeling for the distribution shift robustness of a pretrained model during deployment.
Aligning with personalized preferences, which vary significantly across cultural, educational, and political differences, poses a significant challenge due to the computational costs and data demands of traditional alignment methods. In response, this paper presents Personalized Alignment at Decoding-time (PAD), a novel framework designed to align LLM outputs with diverse personalized preferences during the inference phase, eliminating the need for additional training. By introducing a unique personalized reward modeling strategy, this framework decouples the text generation process from personalized preferences, facilitating the generation of generalizable token-level personalized rewards. The PAD algorithm leverages these rewards to guide the decoding process, dynamically tailoring the base model's predictions to personalized preferences. Extensive experimental results demonstrate that PAD not only outperforms existing training-based alignment methods in terms of aligning with diverse preferences but also shows significant generalizability to preferences unseen during training and scalability across different base models. This work advances the capability of LLMs to meet user needs in real-time applications, presenting a substantial step forward in personalized LLM alignment.
Causal reasoning (CR) is a crucial aspect of intelligence, essential for problem-solving, decision-making, and understanding the world. While large language models (LLMs) can generate rationales for their outputs, their ability to reliably perform causal reasoning remains uncertain, often falling short in tasks requiring a deep understanding of causality. In this survey, we provide a comprehensive review of research aimed at enhancing LLMs for causal reasoning. We categorize existing methods based on the role of LLMs: either as reasoning engines or as helpers providing knowledge or data to traditional CR methods, followed by a detailed discussion of the methodologies in each category. We then evaluate the performance of LLMs on various causal reasoning tasks, providing key findings and in-depth analysis. Finally, we provide insights from current studies and highlight promising directions for future research. We aim for this work to serve as a comprehensive resource, fostering further advancements in causal reasoning with LLMs. Resources are available at //github.com/chendl02/Awesome-LLM-causal-reasoning.
Obelia improves upon structured DAG-based consensus protocols used in proof-of-stake systems, allowing them to effectively scale to accommodate hundreds of validators. Obelia implements a two-tier validator system. A core group of high-stake validators that propose blocks as in current protocols and a larger group of lower-stake auxiliary validators that occasionally author blocks. Obelia incentivizes auxiliary validators to assist recovering core validators and integrates seamlessly with existing protocols. We show that Obelia does not introduce visible overhead compared to the original protocol, even when scaling to hundreds of validators, or when a large number of auxiliary validators are unreliable.
Model merging has recently emerged as a cost-efficient paradigm for multi-task learning. Among current approaches, task arithmetic stands out for its simplicity and effectiveness. In this paper, we motivate the effectiveness of task vectors by linking them to multi-task gradients. We show that in a single-epoch scenario, task vectors are mathematically equivalent to the gradients obtained via gradient descent in a multi-task setting, and still approximate these gradients in subsequent epochs. Furthermore, we show that task vectors perform optimally when equality is maintained, and their effectiveness is largely driven by the first epoch's gradient. Building on this insight, we propose viewing model merging as a single step in an iterative process that Alternates between Tuning and Merging (ATM). This method acts as a bridge between model merging and multi-task gradient descent, achieving state-of-the-art results with the same data and computational requirements. We extensively evaluate ATM across diverse settings, achieving up to 20% higher accuracy in computer vision and NLP tasks, compared to the best baselines.Finally, we provide both empirical and theoretical support for its effectiveness, demonstrating increased orthogonality between task vectors and proving that ATM minimizes an upper bound on the loss obtained by jointly finetuning all tasks.
Chain-of-thought reasoning, a cognitive process fundamental to human intelligence, has garnered significant attention in the realm of artificial intelligence and natural language processing. However, there still remains a lack of a comprehensive survey for this arena. To this end, we take the first step and present a thorough survey of this research field carefully and widely. We use X-of-Thought to refer to Chain-of-Thought in a broad sense. In detail, we systematically organize the current research according to the taxonomies of methods, including XoT construction, XoT structure variants, and enhanced XoT. Additionally, we describe XoT with frontier applications, covering planning, tool use, and distillation. Furthermore, we address challenges and discuss some future directions, including faithfulness, multi-modal, and theory. We hope this survey serves as a valuable resource for researchers seeking to innovate within the domain of chain-of-thought reasoning.
The advent of large language models marks a revolutionary breakthrough in artificial intelligence. With the unprecedented scale of training and model parameters, the capability of large language models has been dramatically improved, leading to human-like performances in understanding, language synthesizing, and common-sense reasoning, etc. Such a major leap-forward in general AI capacity will change the pattern of how personalization is conducted. For one thing, it will reform the way of interaction between humans and personalization systems. Instead of being a passive medium of information filtering, large language models present the foundation for active user engagement. On top of such a new foundation, user requests can be proactively explored, and user's required information can be delivered in a natural and explainable way. For another thing, it will also considerably expand the scope of personalization, making it grow from the sole function of collecting personalized information to the compound function of providing personalized services. By leveraging large language models as general-purpose interface, the personalization systems may compile user requests into plans, calls the functions of external tools to execute the plans, and integrate the tools' outputs to complete the end-to-end personalization tasks. Today, large language models are still being developed, whereas the application in personalization is largely unexplored. Therefore, we consider it to be the right time to review the challenges in personalization and the opportunities to address them with LLMs. In particular, we dedicate this perspective paper to the discussion of the following aspects: the development and challenges for the existing personalization system, the newly emerged capabilities of large language models, and the potential ways of making use of large language models for personalization.
In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.
Graph Neural Networks (GNNs) have been studied from the lens of expressive power and generalization. However, their optimization properties are less well understood. We take the first step towards analyzing GNN training by studying the gradient dynamics of GNNs. First, we analyze linearized GNNs and prove that despite the non-convexity of training, convergence to a global minimum at a linear rate is guaranteed under mild assumptions that we validate on real-world graphs. Second, we study what may affect the GNNs' training speed. Our results show that the training of GNNs is implicitly accelerated by skip connections, more depth, and/or a good label distribution. Empirical results confirm that our theoretical results for linearized GNNs align with the training behavior of nonlinear GNNs. Our results provide the first theoretical support for the success of GNNs with skip connections in terms of optimization, and suggest that deep GNNs with skip connections would be promising in practice.
This work considers the question of how convenient access to copious data impacts our ability to learn causal effects and relations. In what ways is learning causality in the era of big data different from -- or the same as -- the traditional one? To answer this question, this survey provides a comprehensive and structured review of both traditional and frontier methods in learning causality and relations along with the connections between causality and machine learning. This work points out on a case-by-case basis how big data facilitates, complicates, or motivates each approach.
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