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Recent advances have demonstrated that large language models (LLMs) excel as listwise rerankers, but their high computational demands remain a barrier to widespread adoption. Further, the traditional language modeling (LM) objective is not ideally suited for reranking tasks. FIRST is a novel approach that addresses these challenges by integrating a learning-to-rank objective and leveraging the logits of only the first generated token, thereby significantly reducing inference latency compared to traditional LLM rerankers. In this study, we extend the evaluation of FIRST to the TREC Deep Learning datasets (DL19-22), validating its robustness across diverse domains. We investigate the influence of different first-stage retrievers on FIRST rerankers, observing diminishing returns and patterns consistent with traditional LLM rerankers. Through applying the FIRST objective to a broader range of backbone models, we achieve effectiveness surpassing the original implementation. Our experiments confirm that fast reranking with single-token logits does not compromise out-of-domain reranking quality. To better quantify the computational savings in the original study, we measure and compare latency to find a 21%-42% gain across various models and benchmarks. Moreover, while LM training implicitly improves zero-shot single-token reranking, our experiments also raise questions about whether LM pre-training may hinder subsequent fine-tuning with the FIRST objective. These findings pave the way for more efficient and effective listwise reranking in future applications.

To enable context-aware computer assistance in the operating room of the future, cognitive systems need to understand automatically which surgical phase is being performed by the medical team. The primary source of information for surgical phase recognition is typically video, which presents two challenges: extracting meaningful features from the video stream and effectively modeling temporal information in the sequence of visual features. For temporal modeling, attention mechanisms have gained popularity due to their ability to capture long-range dependencies. In this paper, we explore design choices for attention in existing temporal models for surgical phase recognition and propose a novel approach that uses attention more effectively and does not require hand-crafted constraints: TUNeS, an efficient and simple temporal model that incorporates self-attention at the core of a convolutional U-Net structure. In addition, we propose to train the feature extractor, a standard CNN, together with an LSTM on preferably long video segments, i.e., with long temporal context. In our experiments, almost all temporal models performed better on top of feature extractors that were trained with longer temporal context. On these contextualized features, TUNeS achieves state-of-the-art results on the Cholec80 dataset. This study offers new insights on how to use attention mechanisms to build accurate and efficient temporal models for surgical phase recognition. Implementing automatic surgical phase recognition is essential to automate the analysis and optimization of surgical workflows and to enable context-aware computer assistance during surgery, thus ultimately improving patient care.

As fine-tuning large language models (LLMs) becomes increasingly prevalent, users often rely on third-party services with limited visibility into their fine-tuning processes. This lack of transparency raises the question: how do consumers verify that fine-tuning services are performed correctly? For instance, a service provider could claim to fine-tune a model for each user, yet simply send all users back the same base model. To address this issue, we propose vTune, a simple method that uses a small number of backdoor data points added to the training data to provide a statistical test for verifying that a provider fine-tuned a custom model on a particular user's dataset. Unlike existing works, vTune is able to scale to verification of fine-tuning on state-of-the-art LLMs, and can be used both with open-source and closed-source models. We test our approach across several model families and sizes as well as across multiple instruction-tuning datasets, and find that the statistical test is satisfied with p-values on the order of $\sim 10^{-40}$, with no negative impact on downstream task performance. Further, we explore several attacks that attempt to subvert vTune and demonstrate the method's robustness to these attacks.

Large language models (LLMs) have achieved impressive performance in code generation recently, offering programmers revolutionary assistance in software development. However, due to the auto-regressive nature of LLMs, they are susceptible to error accumulation during code generation. Once an error is produced, LLMs can merely continue to generate the subsequent code conditioned on it, given their inability to adjust previous outputs. Existing LLM-based approaches typically consider post-revising after code generation, leading to the challenging resolution of accumulated errors and the significant wastage of resources. Ideally, LLMs should rollback and resolve the occurred error in time during code generation, rather than proceed on the basis of the error and wait for post-revising after generation. In this paper, we propose ROCODE, which integrates the backtracking mechanism and program analysis into LLMs for code generation. Specifically, we employ program analysis to perform incremental error detection during the generation process. When an error is detected, the backtracking mechanism is triggered to priming rollback strategies and constraint regeneration, thereby eliminating the error early and ensuring continued generation on the correct basis. Experiments on multiple code generation benchmarks show that ROCODE can significantly reduce the errors generated by LLMs, with a compilation pass rate of 99.1%. The test pass rate is improved by up to 23.8% compared to the best baseline approach. Compared to the post-revising baseline, the token cost is reduced by 19.3%. Moreover, our approach is model-agnostic and achieves consistent improvements across nine representative LLMs.

Multimodal large language models (MLLMs) have emerged as a prominent area of interest within the research community, given their proficiency in handling and reasoning with non-textual data, including images and videos. This study seeks to extend the application of MLLMs to the realm of autonomous driving by introducing DriveGPT4, a novel interpretable end-to-end autonomous driving system based on LLMs. Capable of processing multi-frame video inputs and textual queries, DriveGPT4 facilitates the interpretation of vehicle actions, offers pertinent reasoning, and effectively addresses a diverse range of questions posed by users. Furthermore, DriveGPT4 predicts low-level vehicle control signals in an end-to-end fashion.These advanced capabilities are achieved through the utilization of a bespoke visual instruction tuning dataset, specifically tailored for autonomous driving applications, in conjunction with a mix-finetuning training strategy. DriveGPT4 represents the pioneering effort to leverage LLMs for the development of an interpretable end-to-end autonomous driving solution. Evaluations conducted on the BDD-X dataset showcase the superior qualitative and quantitative performance of DriveGPT4. Additionally, the fine-tuning of domain-specific data enables DriveGPT4 to yield close or even improved results in terms of autonomous driving grounding when contrasted with GPT4-V.

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding their outputs within the physical environment and aligning with the capabilities of the robot. This challenge becomes even more pronounced with smaller language models, which are more computationally efficient but less robust in task planning and execution. In this paper, we present a novel modular architecture designed to enhance the robustness of LLM-driven robotics by addressing these grounding and alignment issues. We formalize the task planning problem within a goal-conditioned POMDP framework, identify key failure modes in LLM-driven planning, and propose targeted design principles to mitigate these issues. Our architecture introduces an ``expected outcomes'' module to prevent mischaracterization of subgoals and a feedback mechanism to enable real-time error recovery. Experimental results, both in simulation and on physical robots, demonstrate that our approach significantly improves task success rates for pick-and-place and manipulation tasks compared to both larger LLMs and standard baselines. Through hardware experiments, we also demonstrate how our architecture can be run efficiently and locally. This work highlights the potential of smaller, locally-executable LLMs in robotics and provides a scalable, efficient solution for robust task execution.

The emergence of large language models (LLMs) has substantially influenced natural language processing, demonstrating exceptional results across various tasks. In this study, we employ ``Introspective Tips" to facilitate LLMs in self-optimizing their decision-making. By introspectively examining trajectories, LLM refines its policy by generating succinct and valuable tips. Our method enhances the agent's performance in both few-shot and zero-shot learning situations by considering three essential scenarios: learning from the agent's past experiences, integrating expert demonstrations, and generalizing across diverse games. Importantly, we accomplish these improvements without fine-tuning the LLM parameters; rather, we adjust the prompt to generalize insights from the three aforementioned situations. Our framework not only supports but also emphasizes the advantage of employing LLM in in-contxt decision-making. Experiments involving over 100 games in TextWorld illustrate the superior performance of our approach.

Autonomic computing investigates how systems can achieve (user) specified control outcomes on their own, without the intervention of a human operator. Autonomic computing fundamentals have been substantially influenced by those of control theory for closed and open-loop systems. In practice, complex systems may exhibit a number of concurrent and inter-dependent control loops. Despite research into autonomic models for managing computer resources, ranging from individual resources (e.g., web servers) to a resource ensemble (e.g., multiple resources within a data center), research into integrating Artificial Intelligence (AI) and Machine Learning (ML) to improve resource autonomy and performance at scale continues to be a fundamental challenge. The integration of AI/ML to achieve such autonomic and self-management of systems can be achieved at different levels of granularity, from full to human-in-the-loop automation. In this article, leading academics, researchers, practitioners, engineers, and scientists in the fields of cloud computing, AI/ML, and quantum computing join to discuss current research and potential future directions for these fields. Further, we discuss challenges and opportunities for leveraging AI and ML in next generation computing for emerging computing paradigms, including cloud, fog, edge, serverless and quantum computing environments.

Transformer-based pretrained language models (T-PTLMs) have achieved great success in almost every NLP task. The evolution of these models started with GPT and BERT. These models are built on the top of transformers, self-supervised learning and transfer learning. Transformed-based PTLMs learn universal language representations from large volumes of text data using self-supervised learning and transfer this knowledge to downstream tasks. These models provide good background knowledge to downstream tasks which avoids training of downstream models from scratch. In this comprehensive survey paper, we initially give a brief overview of self-supervised learning. Next, we explain various core concepts like pretraining, pretraining methods, pretraining tasks, embeddings and downstream adaptation methods. Next, we present a new taxonomy of T-PTLMs and then give brief overview of various benchmarks including both intrinsic and extrinsic. We present a summary of various useful libraries to work with T-PTLMs. Finally, we highlight some of the future research directions which will further improve these models. We strongly believe that this comprehensive survey paper will serve as a good reference to learn the core concepts as well as to stay updated with the recent happenings in T-PTLMs.

Multi-agent influence diagrams (MAIDs) are a popular form of graphical model that, for certain classes of games, have been shown to offer key complexity and explainability advantages over traditional extensive form game (EFG) representations. In this paper, we extend previous work on MAIDs by introducing the concept of a MAID subgame, as well as subgame perfect and trembling hand perfect equilibrium refinements. We then prove several equivalence results between MAIDs and EFGs. Finally, we describe an open source implementation for reasoning about MAIDs and computing their equilibria.