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Recent advancements in Large Language Models (LLMs) such as GPT4 have displayed exceptional multi-modal capabilities in following open-ended instructions given images. However, the performance of these models heavily relies on design choices such as network structures, training data, and training strategies, and these choices have not been extensively discussed in the literature, making it difficult to quantify progress in this field. To address this issue, this paper presents a systematic and comprehensive study, quantitatively and qualitatively, on training such models. We implement over 20 variants with controlled settings. Concretely, for network structures, we compare different LLM backbones and model designs. For training data, we investigate the impact of data and sampling strategies. For instructions, we explore the influence of diversified prompts on the instruction-following ability of the trained models. For benchmarks, we contribute the first, to our best knowledge, comprehensive evaluation set including both image and video tasks through crowd-sourcing. Based on our findings, we present Lynx, which performs the most accurate multi-modal understanding while keeping the best multi-modal generation ability compared to existing open-sourced GPT4-style models.

While originally designed for image generation, diffusion models have recently shown to provide excellent pretrained feature representations for semantic segmentation. Intrigued by this result, we set out to explore how well diffusion-pretrained representations generalize to new domains, a crucial ability for any representation. We find that diffusion-pretraining achieves extraordinary domain generalization results for semantic segmentation, outperforming both supervised and self-supervised backbone networks. Motivated by this, we investigate how to utilize the model's unique ability of taking an input prompt, in order to further enhance its cross-domain performance. We introduce a scene prompt and a prompt randomization strategy to help further disentangle the domain-invariant information when training the segmentation head. Moreover, we propose a simple but highly effective approach for test-time domain adaptation, based on learning a scene prompt on the target domain in an unsupervised manner. Extensive experiments conducted on four synthetic-to-real and clear-to-adverse weather benchmarks demonstrate the effectiveness of our approaches. Without resorting to any complex techniques, such as image translation, augmentation, or rare-class sampling, we set a new state-of-the-art on all benchmarks. Our implementation will be publicly available at \url{//github.com/ETHRuiGong/PTDiffSeg}.

We present an end-to-end procedure for embodied exploration based on two biologically inspired computations: predictive coding and uncertainty minimization. The procedure can be applied to any exploration setting in a task-independent and intrinsically driven manner. We first demonstrate our approach in a maze navigation task and show that our model is capable of discovering the underlying transition distribution and reconstructing the spatial features of the environment. Second, we apply our model to the more complex task of active vision, where an agent must actively sample its visual environment to gather information. We show that our model is able to build unsupervised representations that allow it to actively sample and efficiently categorize sensory scenes. We further show that using these representations as input for downstream classification leads to superior data efficiency and learning speed compared to other baselines, while also maintaining lower parameter complexity. Finally, the modularity of our model allows us to analyze its internal mechanisms and to draw insight into the interactions between perception and action during exploratory behavior.

Equipping embodied agents with commonsense is important for robots to successfully complete complex human instructions in general environments. Recent large language models (LLM) can embed rich semantic knowledge for agents in plan generation of complex tasks, while they lack the information about the realistic world and usually yield infeasible action sequences. In this paper, we propose a TAsk Planing Agent (TaPA) in embodied tasks for grounded planning with physical scene constraint, where the agent generates executable plans according to the existed objects in the scene by aligning LLMs with the visual perception models. Specifically, we first construct a multimodal dataset containing triplets of indoor scenes, instructions and action plans, where we provide the designed prompts and the list of existing objects in the scene for GPT-3.5 to generate a large number of instructions and corresponding planned actions. The generated data is leveraged for grounded plan tuning of pre-trained LLMs. During inference, we discover the objects in the scene by extending open-vocabulary object detectors to multi-view RGB images collected in different achievable locations. Experimental results show that the generated plan from our TaPA framework can achieve higher success rate than LLaVA and GPT-3.5 by a sizable margin, which indicates the practicality of embodied task planning in general and complex environments.

Recent research has demonstrated that the multi-task fine-tuning of multi-modal Large Language Models (LLMs) using an assortment of annotated downstream vision-language datasets significantly enhances their performance. Yet, during this process, a side effect, which we termed as the "multi-modal alignment tax", surfaces. This side effect negatively impacts the model's ability to format responses appropriately -- for instance, its "politeness" -- due to the overly succinct and unformatted nature of raw annotations, resulting in reduced human preference. In this paper, we introduce Polite Flamingo, a multi-modal response rewriter that transforms raw annotations into a more appealing, "polite" format. Polite Flamingo is trained to reconstruct high-quality responses from their automatically distorted counterparts and is subsequently applied to a vast array of vision-language datasets for response rewriting. After rigorous filtering, we generate the PF-1M dataset and further validate its value by fine-tuning a multi-modal LLM with it. Combined with novel methodologies including U-shaped multi-stage tuning and multi-turn augmentation, the resulting model, Clever Flamingo, demonstrates its advantages in both multi-modal understanding and response politeness according to automated and human evaluations.

This work studies the problem of learning unbiased algorithms from biased feedback for recommendation. We address this problem from a novel distribution shift perspective. Recent works in unbiased recommendation have advanced the state-of-the-art with various techniques such as re-weighting, multi-task learning, and meta-learning. Despite their empirical successes, most of them lack theoretical guarantees, forming non-negligible gaps between theories and recent algorithms. In this paper, we propose a theoretical understanding of why existing unbiased learning objectives work for unbiased recommendation. We establish a close connection between unbiased recommendation and distribution shift, which shows that existing unbiased learning objectives implicitly align biased training and unbiased test distributions. Built upon this connection, we develop two generalization bounds for existing unbiased learning methods and analyze their learning behavior. Besides, as a result of the distribution shift, we further propose a principled framework, Adversarial Self-Training (AST), for unbiased recommendation. Extensive experiments on real-world and semi-synthetic datasets demonstrate the effectiveness of AST.

In recent years, much progress has been made in learning robotic manipulation policies that follow natural language instructions. Such methods typically learn from corpora of robot-language data that was either collected with specific tasks in mind or expensively re-labelled by humans with rich language descriptions in hindsight. Recently, large-scale pretrained vision-language models (VLMs) like CLIP or ViLD have been applied to robotics for learning representations and scene descriptors. Can these pretrained models serve as automatic labelers for robot data, effectively importing Internet-scale knowledge into existing datasets to make them useful even for tasks that are not reflected in their ground truth annotations? To accomplish this, we introduce Data-driven Instruction Augmentation for Language-conditioned control (DIAL): we utilize semi-supervised language labels leveraging the semantic understanding of CLIP to propagate knowledge onto large datasets of unlabelled demonstration data and then train language-conditioned policies on the augmented datasets. This method enables cheaper acquisition of useful language descriptions compared to expensive human labels, allowing for more efficient label coverage of large-scale datasets. We apply DIAL to a challenging real-world robotic manipulation domain where 96.5% of the 80,000 demonstrations do not contain crowd-sourced language annotations. DIAL enables imitation learning policies to acquire new capabilities and generalize to 60 novel instructions unseen in the original dataset.

Large language models (LLMs) provide a promising tool that enable robots to perform complex robot reasoning tasks. However, the limited context window of contemporary LLMs makes reasoning over long time horizons difficult. Embodied tasks such as those that one might expect a household robot to perform typically require that the planner consider information acquired a long time ago (e.g., properties of the many objects that the robot previously encountered in the environment). Attempts to capture the world state using an LLM's implicit internal representation is complicated by the paucity of task- and environment-relevant information available in a robot's action history, while methods that rely on the ability to convey information via the prompt to the LLM are subject to its limited context window. In this paper, we propose Statler, a framework that endows LLMs with an explicit representation of the world state as a form of ``memory'' that is maintained over time. Integral to Statler is its use of two instances of general LLMs -- a world-model reader and a world-model writer -- that interface with and maintain the world state. By providing access to this world state ``memory'', Statler improves the ability of existing LLMs to reason over longer time horizons without the constraint of context length. We evaluate the effectiveness of our approach on three simulated table-top manipulation domains and a real robot domain, and show that it improves the state-of-the-art in LLM-based robot reasoning. Project website: //statler-lm.github.io/

Analysis of innovation has been fundamentally limited by conventional approaches to broad, structural variables. This paper pushes the boundaries, taking an LLM approach to patent analysis with the groundbreaking ChatGPT technology. OpenAI's state-of-the-art textual embedding accesses complex information about the quality and impact of each invention to power deep learning predictive models. The nuanced embedding drives a 24% incremental improvement in R-squared predicting patent value and clearly isolates the worst and best applications. These models enable a revision of the contemporary Kogan, Papanikolaou, Seru, and Stoffman (2017) valuation of patents by a median deviation of 1.5 times, accounting for potential institutional predictions. Furthermore, the market fails to incorporate timely information about applications; a long-short portfolio based on predicted acceptance rates achieves significant abnormal returns of 3.3% annually. The models provide an opportunity to revolutionize startup and small-firm corporate policy vis-a-vis patenting.