Decision Transformer-based decision-making agents have shown the ability to generalize across multiple tasks. However, their performance relies on massive data and computation. We argue that this inefficiency stems from the forgetting phenomenon, in which a model memorizes its behaviors in parameters throughout training. As a result, training on a new task may deteriorate the model's performance on previous tasks. In contrast to LLMs' implicit memory mechanism, the human brain utilizes distributed memory storage, which helps manage and organize multiple skills efficiently, mitigating the forgetting phenomenon. Inspired by this, we propose a working memory module to store, blend, and retrieve information for different downstream tasks. Evaluation results show that the proposed method improves training efficiency and generalization in Atari games and Meta-World object manipulation tasks. Moreover, we demonstrate that memory fine-tuning further enhances the adaptability of the proposed architecture.
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Wireless Capsule Endoscopy (WCE) is highly valued for its non-invasive and painless approach, though its effectiveness is compromised by uneven illumination from hardware constraints and complex internal dynamics, leading to overexposed or underexposed images. While researchers have discussed the challenges of low-light enhancement in WCE, the issue of correcting for different exposure levels remains underexplored. To tackle this, we introduce EndoUIC, a WCE unified illumination correction solution using an end-to-end promptable diffusion transformer (DiT) model. In our work, the illumination prompt module shall navigate the model to adapt to different exposure levels and perform targeted image enhancement, in which the Adaptive Prompt Integration (API) and Global Prompt Scanner (GPS) modules shall further boost the concurrent representation learning between the prompt parameters and features. Besides, the U-shaped restoration DiT model shall capture the long-range dependencies and contextual information for unified illumination restoration. Moreover, we present a novel Capsule-endoscopy Exposure Correction (CEC) dataset, including ground-truth and corrupted image pairs annotated by expert photographers. Extensive experiments against a variety of state-of-the-art (SOTA) methods on four datasets showcase the effectiveness of our proposed method and components in WCE illumination restoration, and the additional downstream experiments further demonstrate its utility for clinical diagnosis and surgical assistance.
Ensuring that AI systems reliably and robustly avoid harmful or dangerous behaviours is a crucial challenge, especially for AI systems with a high degree of autonomy and general intelligence, or systems used in safety-critical contexts. In this paper, we will introduce and define a family of approaches to AI safety, which we will refer to as guaranteed safe (GS) AI. The core feature of these approaches is that they aim to produce AI systems which are equipped with high-assurance quantitative safety guarantees. This is achieved by the interplay of three core components: a world model (which provides a mathematical description of how the AI system affects the outside world), a safety specification (which is a mathematical description of what effects are acceptable), and a verifier (which provides an auditable proof certificate that the AI satisfies the safety specification relative to the world model). We outline a number of approaches for creating each of these three core components, describe the main technical challenges, and suggest a number of potential solutions to them. We also argue for the necessity of this approach to AI safety, and for the inadequacy of the main alternative approaches.
We consider the problem of Embodied Question Answering (EQA), which refers to settings where an embodied agent such as a robot needs to actively explore an environment to gather information until it is confident about the answer to a question. In this work, we leverage the strong semantic reasoning capabilities of large vision-language models (VLMs) to efficiently explore and answer such questions. However, there are two main challenges when using VLMs in EQA: they do not have an internal memory for mapping the scene to be able to plan how to explore over time, and their confidence can be miscalibrated and can cause the robot to prematurely stop exploration or over-explore. We propose a method that first builds a semantic map of the scene based on depth information and via visual prompting of a VLM - leveraging its vast knowledge of relevant regions of the scene for exploration. Next, we use conformal prediction to calibrate the VLM's question answering confidence, allowing the robot to know when to stop exploration - leading to a more calibrated and efficient exploration strategy. To test our framework in simulation, we also contribute a new EQA dataset with diverse, realistic human-robot scenarios and scenes built upon the Habitat-Matterport 3D Research Dataset (HM3D). Both simulated and real robot experiments show our proposed approach improves the performance and efficiency over baselines that do no leverage VLM for exploration or do not calibrate its confidence. Webpage with experiment videos and code: //explore-eqa.github.io/
In the Emotion Recognition in Conversation task, recent investigations have utilized attention mechanisms exploring relationships among utterances from intra- and inter-speakers for modeling emotional interaction between them. However, attributes such as speaker personality traits remain unexplored and present challenges in terms of their applicability to other tasks or compatibility with diverse model architectures. Therefore, this work introduces a novel framework named BiosERC, which investigates speaker characteristics in a conversation. By employing Large Language Models (LLMs), we extract the "biographical information" of the speaker within a conversation as supplementary knowledge injected into the model to classify emotional labels for each utterance. Our proposed method achieved state-of-the-art (SOTA) results on three famous benchmark datasets: IEMOCAP, MELD, and EmoryNLP, demonstrating the effectiveness and generalization of our model and showcasing its potential for adaptation to various conversation analysis tasks. Our source code is available at //github.com/yingjie7/BiosERC.
Large Language Models (LLMs) have gained widespread adoption in various natural language processing tasks, including question answering and dialogue systems. However, a major drawback of LLMs is the issue of hallucination, where they generate unfaithful or inconsistent content that deviates from the input source, leading to severe consequences. In this paper, we propose a robust discriminator named RelD to effectively detect hallucination in LLMs' generated answers. RelD is trained on the constructed RelQA, a bilingual question-answering dialogue dataset along with answers generated by LLMs and a comprehensive set of metrics. Our experimental results demonstrate that the proposed RelD successfully detects hallucination in the answers generated by diverse LLMs. Moreover, it performs well in distinguishing hallucination in LLMs' generated answers from both in-distribution and out-of-distribution datasets. Additionally, we also conduct a thorough analysis of the types of hallucinations that occur and present valuable insights. This research significantly contributes to the detection of reliable answers generated by LLMs and holds noteworthy implications for mitigating hallucination in the future work.
Vision-and-Language Navigation (VLN) aims to develop embodied agents that navigate based on human instructions. However, current VLN frameworks often rely on static environments and optimal expert supervision, limiting their real-world applicability. To address this, we introduce Human-Aware Vision-and-Language Navigation (HA-VLN), extending traditional VLN by incorporating dynamic human activities and relaxing key assumptions. We propose the Human-Aware 3D (HA3D) simulator, which combines dynamic human activities with the Matterport3D dataset, and the Human-Aware Room-to-Room (HA-R2R) dataset, extending R2R with human activity descriptions. To tackle HA-VLN challenges, we present the Expert-Supervised Cross-Modal (VLN-CM) and Non-Expert-Supervised Decision Transformer (VLN-DT) agents, utilizing cross-modal fusion and diverse training strategies for effective navigation in dynamic human environments. A comprehensive evaluation, including metrics considering human activities, and systematic analysis of HA-VLN's unique challenges, underscores the need for further research to enhance HA-VLN agents' real-world robustness and adaptability. Ultimately, this work provides benchmarks and insights for future research on embodied AI and Sim2Real transfer, paving the way for more realistic and applicable VLN systems in human-populated environments.
We introduce Voyager, the first LLM-powered embodied lifelong learning agent in Minecraft that continuously explores the world, acquires diverse skills, and makes novel discoveries without human intervention. Voyager consists of three key components: 1) an automatic curriculum that maximizes exploration, 2) an ever-growing skill library of executable code for storing and retrieving complex behaviors, and 3) a new iterative prompting mechanism that incorporates environment feedback, execution errors, and self-verification for program improvement. Voyager interacts with GPT-4 via blackbox queries, which bypasses the need for model parameter fine-tuning. The skills developed by Voyager are temporally extended, interpretable, and compositional, which compounds the agent's abilities rapidly and alleviates catastrophic forgetting. Empirically, Voyager shows strong in-context lifelong learning capability and exhibits exceptional proficiency in playing Minecraft. It obtains 3.3x more unique items, travels 2.3x longer distances, and unlocks key tech tree milestones up to 15.3x faster than prior SOTA. Voyager is able to utilize the learned skill library in a new Minecraft world to solve novel tasks from scratch, while other techniques struggle to generalize. We open-source our full codebase and prompts at //voyager.minedojo.org/.
Reasoning is a fundamental aspect of human intelligence that plays a crucial role in activities such as problem solving, decision making, and critical thinking. In recent years, large language models (LLMs) have made significant progress in natural language processing, and there is observation that these models may exhibit reasoning abilities when they are sufficiently large. However, it is not yet clear to what extent LLMs are capable of reasoning. This paper provides a comprehensive overview of the current state of knowledge on reasoning in LLMs, including techniques for improving and eliciting reasoning in these models, methods and benchmarks for evaluating reasoning abilities, findings and implications of previous research in this field, and suggestions on future directions. Our aim is to provide a detailed and up-to-date review of this topic and stimulate meaningful discussion and future work.
Transformer is a promising neural network learner, and has achieved great success in various machine learning tasks. Thanks to the recent prevalence of multimodal applications and big data, Transformer-based multimodal learning has become a hot topic in AI research. This paper presents a comprehensive survey of Transformer techniques oriented at multimodal data. The main contents of this survey include: (1) a background of multimodal learning, Transformer ecosystem, and the multimodal big data era, (2) a theoretical review of Vanilla Transformer, Vision Transformer, and multimodal Transformers, from a geometrically topological perspective, (3) a review of multimodal Transformer applications, via two important paradigms, i.e., for multimodal pretraining and for specific multimodal tasks, (4) a summary of the common challenges and designs shared by the multimodal Transformer models and applications, and (5) a discussion of open problems and potential research directions for the community.
Convolutional networks (ConvNets) have achieved great successes in various challenging vision tasks. However, the performance of ConvNets would degrade when encountering the domain shift. The domain adaptation is more significant while challenging in the field of biomedical image analysis, where cross-modality data have largely different distributions. Given that annotating the medical data is especially expensive, the supervised transfer learning approaches are not quite optimal. In this paper, we propose an unsupervised domain adaptation framework with adversarial learning for cross-modality biomedical image segmentations. Specifically, our model is based on a dilated fully convolutional network for pixel-wise prediction. Moreover, we build a plug-and-play domain adaptation module (DAM) to map the target input to features which are aligned with source domain feature space. A domain critic module (DCM) is set up for discriminating the feature space of both domains. We optimize the DAM and DCM via an adversarial loss without using any target domain label. Our proposed method is validated by adapting a ConvNet trained with MRI images to unpaired CT data for cardiac structures segmentations, and achieved very promising results.
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