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Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the progress, most still rely on pre-defined motion primitives to carry out the physical interactions with the environment, which remains a major bottleneck. In this work, we aim to synthesize robot trajectories, i.e., a dense sequence of 6-DoF end-effector waypoints, for a large variety of manipulation tasks given an open-set of instructions and an open-set of objects. We achieve this by first observing that LLMs excel at inferring affordances and constraints given a free-form language instruction. More importantly, by leveraging their code-writing capabilities, they can interact with a vision-language model (VLM) to compose 3D value maps to ground the knowledge into the observation space of the agent. The composed value maps are then used in a model-based planning framework to zero-shot synthesize closed-loop robot trajectories with robustness to dynamic perturbations. We further demonstrate how the proposed framework can benefit from online experiences by efficiently learning a dynamics model for scenes that involve contact-rich interactions. We present a large-scale study of the proposed method in both simulated and real-robot environments, showcasing the ability to perform a large variety of everyday manipulation tasks specified in free-form natural language. Videos and code at //voxposer.github.io

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As an indispensable ingredient of intelligence, commonsense reasoning is crucial for large language models (LLMs) in real-world scenarios. In this paper, we propose CORECODE, a dataset that contains abundant commonsense knowledge manually annotated on dyadic dialogues, to evaluate the commonsense reasoning and commonsense conflict detection capabilities of Chinese LLMs. We categorize commonsense knowledge in everyday conversations into three dimensions: entity, event, and social interaction. For easy and consistent annotation, we standardize the form of commonsense knowledge annotation in open-domain dialogues as "domain: slot = value". A total of 9 domains and 37 slots are defined to capture diverse commonsense knowledge. With these pre-defined domains and slots, we collect 76,787 commonsense knowledge annotations from 19,700 dialogues through crowdsourcing. To evaluate and enhance the commonsense reasoning capability for LLMs on the curated dataset, we establish a series of dialogue-level reasoning and detection tasks, including commonsense knowledge filling, commonsense knowledge generation, commonsense conflict phrase detection, domain identification, slot identification, and event causal inference. A wide variety of existing open-source Chinese LLMs are evaluated with these tasks on our dataset. Experimental results demonstrate that these models are not competent to predict CORECODE's plentiful reasoning content, and even ChatGPT could only achieve 0.275 and 0.084 accuracy on the domain identification and slot identification tasks under the zero-shot setting. We release the data and codes of CORECODE at //github.com/danshi777/CORECODE to promote commonsense reasoning evaluation and study of LLMs in the context of daily conversations.

Data contamination in evaluation is getting increasingly prevalent with the emerge of language models pre-trained on super large, automatically-crawled corpora. This problem leads to significant challenges in accurate assessment of model capabilities and generalisations. In this paper, we propose LatestEval, an automatic method leverages the most recent texts to create uncontaminated reading comprehension evaluations. LatestEval avoids data contamination by only using texts published within a recent time window, ensuring no overlap with the training corpora of pre-trained language models. We develop LatestEval automated pipeline to 1) gather latest texts; 2) identify key information, and 3) construct questions targeting the information while removing the existing answers from the context. This encourages models to infer the answers themselves based on the remaining context, rather than just copy-paste. Our experiments demonstrate that language models exhibit negligible memorisation behaviours on LatestEval as opposed to previous benchmarks, suggesting a significantly reduced risk of data contamination and leading to a more robust evaluation. Data and code are publicly available at: //github.com/liyucheng09/LatestEval.

Graphic designers often get inspiration through the recombination of references. Our formative study (N=6) reveals that graphic designers focus on conceptual keywords during this process, and want support for discovering the keywords, expanding them, and exploring diverse recombination options of them, while still having room for their creativity. We propose CreativeConnect, a system with generative AI pipelines that helps users discover useful elements from the reference image using keywords, recommends relevant keywords, generates diverse recombination options with user-selected keywords, and shows recombinations as sketches with text descriptions. Our user study (N=16) showed that CreativeConnect helped users discover keywords from the reference and generate multiple ideas based on them, ultimately helping users produce more design ideas and higher self-reported creativity, compared to the baseline system without generative pipelines. While CreativeConnect was effective in ideation, we discussed how CreativeConnect can be extended to support other types of tasks in creativity support.

We introduce the framework of "social learning" in the context of large language models (LLMs), whereby models share knowledge with each other in a privacy-aware manner using natural language. We present and evaluate two approaches for knowledge transfer between LLMs. In the first scenario, we allow the model to generate abstract prompts aiming to teach the task. In our second approach, models transfer knowledge by generating synthetic examples. We evaluate these methods across diverse datasets and quantify memorization as a proxy for privacy loss. These techniques inspired by social learning yield promising results with low memorization of the original data. In particular, we show that performance using these methods is comparable to results with the use of original labels and prompts. Our work demonstrates the viability of social learning for LLMs, establishes baseline approaches and highlights several unexplored areas for future work.

Large language models (LLMs) have shown remarkable proficiency in human-level reasoning and generation capabilities, which encourages extensive research on their application in mathematical problem solving. However, current work has been largely focused on text-based mathematical problems, with limited investigation in problems involving geometric information. Addressing this gap, we aim to enable LLMs to solve geometric problems by understanding image input. We first analyze the limitations of current Multimodal Large Language Models (MLLMs) in this area: they struggle to accurately comprehending basic geometric elements and their relationships. To overcome these challenges, we take advantage of the unique characteristics of geometric problems (such as unique geometric logical form, and geometric scalability) and the capacity of the textual LLMs to build an enriched multimodal geometry dataset based on existing data. The augmented dataset, Geo170K, contains more than 170K geometric image-caption and question-answer pairs. Utilizing our constructed Geo170K dataset, we develop G-LLaVA, which demonstrates exceptional performance in solving geometric problems, significantly outperforming GPT-4-V on the MathVista benchmark with only 7B parameters.

We introduce SkipAnalyzer, a large language model (LLM)-powered tool for static code analysis. SkipAnalyzer has three components: 1) an LLM-based static bug detector that scans source code and reports specific types of bugs, 2) an LLM-based false-positive filter that can identify false-positive bugs in the results of static bug detectors (e.g., the result of step 1) to improve detection accuracy, and 3) an LLM-based patch generator that can generate patches for the detected bugs above. As a proof-of-concept, SkipAnalyzer is built on ChatGPT, which has exhibited outstanding performance in various software engineering tasks. To evaluate SkipAnalyzer, we focus on two types of typical and critical bugs that are targeted by static bug detection, i.e., Null Dereference and Resource Leak as subjects. We employ Infer to aid the gathering of these two bug types from 10 open-source projects. Consequently, our experiment dataset contains 222 instances of Null Dereference bugs and 46 instances of Resource Leak bugs. Our study demonstrates that SkipAnalyzer achieves remarkable performance in the mentioned static analysis tasks, including bug detection, false-positive warning removal, and bug repair. In static bug detection, SkipAnalyzer achieves accuracy values of up to 68.37% for detecting Null Dereference bugs and 76.95% for detecting Resource Leak bugs, improving the precision of the current leading bug detector, Infer, by 12.86% and 43.13%, respectively. For removing false-positive warnings, SkipAnalyzer can reach a precision of up to 93.88% for Null Dereference bugs and 63.33% for Resource Leak bugs. Additionally, SkipAnalyzer surpasses state-of-the-art false-positive warning removal tools. Furthermore, in bug repair, SkipAnalyzer can generate syntactically correct patches to fix its detected bugs with a success rate of up to 97.30%.

Large language models (LLMs) have significantly advanced the field of natural language processing (NLP), providing a highly useful, task-agnostic foundation for a wide range of applications. The great promise of LLMs as general task solvers motivated people to extend their functionality largely beyond just a ``chatbot'', and use it as an assistant or even replacement for domain experts and tools in specific domains such as healthcare, finance, and education. However, directly applying LLMs to solve sophisticated problems in specific domains meets many hurdles, caused by the heterogeneity of domain data, the sophistication of domain knowledge, the uniqueness of domain objectives, and the diversity of the constraints (e.g., various social norms, cultural conformity, religious beliefs, and ethical standards in the domain applications). To fill such a gap, explosively-increase research, and practices have been conducted in very recent years on the domain specialization of LLMs, which, however, calls for a comprehensive and systematic review to better summarizes and guide this promising domain. In this survey paper, first, we propose a systematic taxonomy that categorizes the LLM domain-specialization techniques based on the accessibility to LLMs and summarizes the framework for all the subcategories as well as their relations and differences to each other. We also present a comprehensive taxonomy of critical application domains that can benefit from specialized LLMs, discussing their practical significance and open challenges. Furthermore, we offer insights into the current research status and future trends in this area.

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.

Visual dialogue is a challenging task that needs to extract implicit information from both visual (image) and textual (dialogue history) contexts. Classical approaches pay more attention to the integration of the current question, vision knowledge and text knowledge, despising the heterogeneous semantic gaps between the cross-modal information. In the meantime, the concatenation operation has become de-facto standard to the cross-modal information fusion, which has a limited ability in information retrieval. In this paper, we propose a novel Knowledge-Bridge Graph Network (KBGN) model by using graph to bridge the cross-modal semantic relations between vision and text knowledge in fine granularity, as well as retrieving required knowledge via an adaptive information selection mode. Moreover, the reasoning clues for visual dialogue can be clearly drawn from intra-modal entities and inter-modal bridges. Experimental results on VisDial v1.0 and VisDial-Q datasets demonstrate that our model outperforms exiting models with state-of-the-art results.

Language model pre-training, such as BERT, has significantly improved the performances of many natural language processing tasks. However, pre-trained language models are usually computationally expensive and memory intensive, so it is difficult to effectively execute them on some resource-restricted devices. To accelerate inference and reduce model size while maintaining accuracy, we firstly propose a novel transformer distillation method that is a specially designed knowledge distillation (KD) method for transformer-based models. By leveraging this new KD method, the plenty of knowledge encoded in a large teacher BERT can be well transferred to a small student TinyBERT. Moreover, we introduce a new two-stage learning framework for TinyBERT, which performs transformer distillation at both the pre-training and task-specific learning stages. This framework ensures that TinyBERT can capture both the general-domain and task-specific knowledge of the teacher BERT. TinyBERT is empirically effective and achieves comparable results with BERT in GLUE datasets, while being 7.5x smaller and 9.4x faster on inference. TinyBERT is also significantly better than state-of-the-art baselines, even with only about 28% parameters and 31% inference time of baselines.

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