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A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques, such as in-context learning or re-prompting with state feedback, placing new importance on the token budget for the context window. An under-explored but natural next direction is to investigate LLMs as multi-robot task planners. However, long-horizon, heterogeneous multi-robot planning introduces new challenges of coordination while also pushing up against the limits of context window length. It is therefore critical to find token-efficient LLM planning frameworks that are also able to reason about the complexities of multi-robot coordination. In this work, we compare the task success rate and token efficiency of four multi-agent communication frameworks (centralized, decentralized, and two hybrid) as applied to four coordination-dependent multi-agent 2D task scenarios for increasing numbers of agents. We find that a hybrid framework achieves better task success rates across all four tasks and scales better to more agents. We further demonstrate the hybrid frameworks in 3D simulations where the vision-to-text problem and dynamical errors are considered. See our project website //yongchao98.github.io/MIT-REALM-Multi-Robot/ for prompts, videos, and code.

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While large language models exhibit remarkable performance in the Question Answering task, they are susceptible to hallucinations. Challenges arise when these models grapple with understanding multi-hop relations in complex questions or lack the necessary knowledge for a comprehensive response. To address this issue, we introduce the "Decompose-and-Query" framework (D&Q). This framework guides the model to think and utilize external knowledge similar to ReAct, while also restricting its thinking to reliable information, effectively mitigating the risk of hallucinations. Experiments confirm the effectiveness of D&Q: On our ChitChatQA dataset, D&Q does not lose to ChatGPT in 67% of cases; on the HotPotQA question-only setting, D&Q achieved an F1 score of 59.6%. Our code is available at //github.com/alkaidpku/DQ-ToolQA.

Inspired by the recent success of large language models (LLMs) like ChatGPT, researchers start to explore the adoption of LLMs for agile hardware design, such as generating design RTL based on natural-language instructions. However, in existing works, their target designs are all relatively simple and in a small scale, and proposed by the authors themselves, making a fair comparison among different LLM solutions challenging. In addition, many prior works only focus on the design correctness, without evaluating the design qualities of generated design RTL. In this work, we propose an open-source benchmark named RTLLM, for generating design RTL with natural language instructions. To systematically evaluate the auto-generated design RTL, we summarized three progressive goals, named syntax goal, functionality goal, and design quality goal. This benchmark can automatically provide a quantitative evaluation of any given LLM-based solution. Furthermore, we propose an easy-to-use yet surprisingly effective prompt engineering technique named self-planning, which proves to significantly boost the performance of GPT-3.5 in our proposed benchmark.

The growing awareness of safety concerns in large language models (LLMs) has sparked considerable interest in the evaluation of safety within current research endeavors. This study investigates an interesting issue pertaining to the evaluation of LLMs, namely the substantial discrepancy in performance between multiple-choice questions and open-ended questions. Inspired by research on jailbreak attack patterns, we argue this is caused by mismatched generalization. That is, the LLM does not have a comprehensive understanding of the complex concept of safety. Instead, it only remembers what to answer for open-ended safety questions, which makes it unable to solve other forms of safety tests. We refer to this phenomenon as fake alignment and construct a comparative benchmark to empirically verify its existence in LLMs. Such fake alignment renders previous evaluation protocols unreliable. To address this, we introduce the FAEF framework and two novel metrics\textemdash Consistency Score (CS) and Consistent Safety Score (CSS), which jointly assess two complementary forms of evaluation to quantify fake alignment and obtain corrected performance estimates. Applying FAEF to 14 widely-used LLMs reveals several models with purported safety are poorly aligned in practice. Our work highlights potential limitations in prevailing alignment methodologies.

We study indiscriminate poisoning for linear learners where an adversary injects a few crafted examples into the training data with the goal of forcing the induced model to incur higher test error. Inspired by the observation that linear learners on some datasets are able to resist the best known attacks even without any defenses, we further investigate whether datasets can be inherently robust to indiscriminate poisoning attacks for linear learners. For theoretical Gaussian distributions, we rigorously characterize the behavior of an optimal poisoning attack, defined as the poisoning strategy that attains the maximum risk of the induced model at a given poisoning budget. Our results prove that linear learners can indeed be robust to indiscriminate poisoning if the class-wise data distributions are well-separated with low variance and the size of the constraint set containing all permissible poisoning points is also small. These findings largely explain the drastic variation in empirical attack performance of the state-of-the-art poisoning attacks on linear learners across benchmark datasets, making an important initial step towards understanding the underlying reasons some learning tasks are vulnerable to data poisoning attacks.

Modern multi-centre randomized controlled trials (MCRCTs) collect massive amounts of tabular data, and are monitored intensively for irregularities by humans. We began by empirically evaluating 6 modern machine learning-based outlier detection algorithms on the task of identifying irregular data in 838 datasets from 7 real-world MCRCTs with a total of 77,001 patients from over 44 countries. Our results reinforce key findings from prior work in the outlier detection literature on data from other domains. Existing algorithms often succeed at identifying irregularities without any supervision, with at least one algorithm exhibiting positive performance 70.6% of the time. However, performance across datasets varies substantially with no single algorithm performing consistently well, motivating new techniques for unsupervised model selection or other means of aggregating potentially discordant predictions from multiple candidate models. We propose the Meta-learned Probabilistic Ensemble (MePE), a simple algorithm for aggregating the predictions of multiple unsupervised models, and show that it performs favourably compared to recent meta-learning approaches for outlier detection model selection. While meta-learning shows promise, small ensembles outperform all forms of meta-learning on average, a negative result that may guide the application of current outlier detection approaches in healthcare and other real-world domains.

As a promising distributed learning paradigm, federated learning (FL) involves training deep neural network (DNN) models at the network edge while protecting the privacy of the edge clients. To train a large-scale DNN model, batch normalization (BN) has been regarded as a simple and effective means to accelerate the training and improve the generalization capability. However, recent findings indicate that BN can significantly impair the performance of FL in the presence of non-i.i.d. data. While several FL algorithms have been proposed to address this issue, their performance still falls significantly when compared to the centralized scheme. Furthermore, none of them have provided a theoretical explanation of how the BN damages the FL convergence. In this paper, we present the first convergence analysis to show that under the non-i.i.d. data, the mismatch between the local and global statistical parameters in BN causes the gradient deviation between the local and global models, which, as a result, slows down and biases the FL convergence. In view of this, we develop a new FL algorithm that is tailored to BN, called FedTAN, which is capable of achieving robust FL performance under a variety of data distributions via iterative layer-wise parameter aggregation. Comprehensive experimental results demonstrate the superiority of the proposed FedTAN over existing baselines for training BN-based DNN models.

As the popularity of adhesive joints in industry increases, so does the need for tools to support the process of selecting a suitable adhesive. While some such tools already exist, they are either too limited in scope, or offer too little flexibility in use. This work presents a more advanced tool, that was developed together with a team of adhesive experts. We first extract the experts' knowledge about this domain and formalize it in a Knowledge Base (KB). The IDP-Z3 reasoning system can then be used to derive the necessary functionality from this KB. Together with a user-friendly interactive interface, this creates an easy-to-use tool capable of assisting the adhesive experts. To validate our approach, we performed user testing in the form of qualitative interviews. The experts are very positive about the tool, stating that, among others, it will help save time and find more suitable adhesives. Under consideration in Theory and Practice of Logic Programming (TPLP).

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.

Pre-trained language representation models, such as BERT, capture a general language representation from large-scale corpora, but lack domain-specific knowledge. When reading a domain text, experts make inferences with relevant knowledge. For machines to achieve this capability, we propose a knowledge-enabled language representation model (K-BERT) with knowledge graphs (KGs), in which triples are injected into the sentences as domain knowledge. However, too much knowledge incorporation may divert the sentence from its correct meaning, which is called knowledge noise (KN) issue. To overcome KN, K-BERT introduces soft-position and visible matrix to limit the impact of knowledge. K-BERT can easily inject domain knowledge into the models by equipped with a KG without pre-training by-self because it is capable of loading model parameters from the pre-trained BERT. Our investigation reveals promising results in twelve NLP tasks. Especially in domain-specific tasks (including finance, law, and medicine), K-BERT significantly outperforms BERT, which demonstrates that K-BERT is an excellent choice for solving the knowledge-driven problems that require experts.

Language model pre-training has proven to be useful in learning universal language representations. As a state-of-the-art language model pre-training model, BERT (Bidirectional Encoder Representations from Transformers) has achieved amazing results in many language understanding tasks. In this paper, we conduct exhaustive experiments to investigate different fine-tuning methods of BERT on text classification task and provide a general solution for BERT fine-tuning. Finally, the proposed solution obtains new state-of-the-art results on eight widely-studied text classification datasets.

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