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Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to advance the capabilities of robotic control. However, since low-level robot actions are hardware-dependent and underrepresented in LLM training corpora, existing efforts in applying LLMs to robotics have largely treated LLMs as semantic planners or relied on human-engineered control primitives to interface with the robot. On the other hand, reward functions are shown to be flexible representations that can be optimized for control policies to achieve diverse tasks, while their semantic richness makes them suitable to be specified by LLMs. In this work, we introduce a new paradigm that harnesses this realization by utilizing LLMs to define reward parameters that can be optimized and accomplish variety of robotic tasks. Using reward as the intermediate interface generated by LLMs, we can effectively bridge the gap between high-level language instructions or corrections to low-level robot actions. Meanwhile, combining this with a real-time optimizer, MuJoCo MPC, empowers an interactive behavior creation experience where users can immediately observe the results and provide feedback to the system. To systematically evaluate the performance of our proposed method, we designed a total of 17 tasks for a simulated quadruped robot and a dexterous manipulator robot. We demonstrate that our proposed method reliably tackles 90% of the designed tasks, while a baseline using primitive skills as the interface with Code-as-policies achieves 50% of the tasks. We further validated our method on a real robot arm where complex manipulation skills such as non-prehensile pushing emerge through our interactive system.

Over the last decades, excellent computational chemistry tools have been developed. Their full potential has not yet been reached as most are challenging to learn and exist in isolation. Recently, large-language models (LLMs) have shown strong performance in tasks across domains, but struggle with chemistry-related problems. Moreover, these models lack access to external knowledge sources, limiting their usefulness in scientific applications. In this study, we introduce ChemCrow, an LLM chemistry agent designed to accomplish tasks across organic synthesis, drug discovery, and materials design. By integrating 18 expert-designed tools, ChemCrow augments the LLM performance in chemistry, and new capabilities emerge. Our agent autonomously planned and executed the syntheses of an insect repellent, three organocatalysts, and guided the discovery of a novel chromophore. Our evaluation, including both LLM and expert assessments, demonstrates ChemCrow's effectiveness in automating a diverse set of chemical tasks. Surprisingly, we find that GPT-4 as an evaluator cannot distinguish between clearly wrong GPT-4 completions and Chemcrow's performance. There is a significant risk of misuse of tools like ChemCrow, and we discuss their potential harms. Employed responsibly, our work not only aids expert chemists and lowers barriers for non-experts, but also fosters scientific advancement by bridging the gap between experimental and computational chemistry. Publicly available code can be found at //github.com/ur-whitelab/chemcrow-public

Large language models have exhibited exceptional performance on various Natural Language Processing (NLP) tasks, leveraging techniques such as the pre-training, and instruction fine-tuning. Despite these advances, their effectiveness in medical applications is limited, due to challenges such as factual inaccuracies, reasoning abilities, and lack grounding in real-world experience. In this study, we present ClinicalGPT, a language model explicitly designed and optimized for clinical scenarios. By incorporating extensive and diverse real-world data, such as medical records, domain-specific knowledge, and multi-round dialogue consultations in the training process, ClinicalGPT is better prepared to handle multiple clinical task. Furthermore, we introduce a comprehensive evaluation framework that includes medical knowledge question-answering, medical exams, patient consultations, and diagnostic analysis of medical records. Our results demonstrate that ClinicalGPT significantly outperforms other models in these tasks, highlighting the effectiveness of our approach in adapting large language models to the critical domain of healthcare.

The advent of ChatGPT by OpenAI has prompted extensive discourse on its potential implications for science and higher education. While the impact on education has been a primary focus, there is limited empirical research on the effects of large language models (LLMs) and LLM-based chatbots on science and scientific practice. To investigate this further, we conducted a Delphi study involving 72 experts specialising in research and AI. The study focused on applications and limitations of LLMs, their effects on the science system, ethical and legal considerations, and the required competencies for their effective use. Our findings highlight the transformative potential of LLMs in science, particularly in administrative, creative, and analytical tasks. However, risks related to bias, misinformation, and quality assurance need to be addressed through proactive regulation and science education. This research contributes to informed discussions on the impact of generative AI in science and helps identify areas for future action.

Dialogue systems and large language models (LLMs) have gained considerable attention. However, the direct utilization of LLMs as task-oriented dialogue (TOD) models has been found to underperform compared to smaller task-specific models. Nonetheless, it is crucial to acknowledge the significant potential of LLMs and explore improved approaches for leveraging their impressive abilities. Motivated by the goal of leveraging LLMs, we propose an alternative approach called User-Guided Response Optimization (UGRO) to combine it with a smaller TOD model. This approach uses LLM as annotation-free user simulator to assess dialogue responses, combining them with smaller fine-tuned end-to-end TOD models. By utilizing the satisfaction feedback generated by LLMs, UGRO further optimizes the supervised fine-tuned TOD model. Specifically, the TOD model takes the dialogue history as input and, with the assistance of the user simulator's feedback, generates high-satisfaction responses that meet the user's requirements. Through empirical experiments on two TOD benchmarks, we validate the effectiveness of our method. The results demonstrate that our approach outperforms previous state-of-the-art (SOTA) results.

Despite the success of ChatGPT, its performances on most NLP tasks are still well below the supervised baselines. In this work, we looked into the causes, and discovered that its subpar performance was caused by the following factors: (1) token limit in the prompt does not allow for the full utilization of the supervised datasets; (2) mismatch between the generation nature of ChatGPT and NLP tasks; (3) intrinsic pitfalls of LLMs models, e.g., hallucination, overly focus on certain keywords, etc. In this work, we propose a collection of general modules to address these issues, in an attempt to push the limits of ChatGPT on NLP tasks. Our proposed modules include (1) a one-input-multiple-prompts strategy that employs multiple prompts for one input to accommodate more demonstrations; (2) using fine-tuned models for better demonstration retrieval; (3) transforming tasks to formats that are more tailored to the generation nature; (4) employing reasoning strategies that are tailored to addressing the task-specific complexity; (5) the self-verification strategy to address the hallucination issue of LLMs; (6) the paraphrase strategy to improve the robustness of model predictions. We conduct experiments on 21 datasets of 10 representative NLP tasks, including question answering, commonsense reasoning, natural language inference, sentiment analysis, named entity recognition, entity-relation extraction, event extraction, dependency parsing, semantic role labeling, and part-of-speech tagging. Using the proposed assemble of techniques, we are able to significantly boost the performance of ChatGPT on the selected NLP tasks, achieving performances comparable to or better than supervised baselines, or even existing SOTA performances.

The unprecedented performance of large language models (LLMs) necessitates improvements in evaluations. Rather than merely exploring the breadth of LLM abilities, we believe meticulous and thoughtful designs are essential to thorough, unbiased, and applicable evaluations. Given the importance of world knowledge to LLMs, we construct a Knowledge-oriented LLM Assessment benchmark (KoLA), in which we carefully design three crucial factors: (1) For ability modeling, we mimic human cognition to form a four-level taxonomy of knowledge-related abilities, covering $19$ tasks. (2) For data, to ensure fair comparisons, we use both Wikipedia, a corpus prevalently pre-trained by LLMs, along with continuously collected emerging corpora, aiming to evaluate the capacity to handle unseen data and evolving knowledge. (3) For evaluation criteria, we adopt a contrastive system, including overall standard scores for better numerical comparability across tasks and models and a unique self-contrast metric for automatically evaluating knowledge hallucination. We evaluate $21$ open-source and commercial LLMs and obtain some intriguing findings. The KoLA dataset and open-participation leaderboard are publicly released at //kola.xlore.cn and will be continuously updated to provide references for developing LLMs and knowledge-related systems.

Large Vision-Language Models (LVLMs) have recently played a dominant role in multimodal vision-language learning. Despite the great success, it lacks a holistic evaluation of their efficacy. This paper presents a comprehensive evaluation of publicly available large multimodal models by building a LVLM evaluation Hub (LVLM-eHub). Our LVLM-eHub consists of $8$ representative LVLMs such as InstructBLIP and MiniGPT-4, which are thoroughly evaluated by a quantitative capability evaluation and an online arena platform. The former evaluates $6$ categories of multimodal capabilities of LVLMs such as visual question answering and embodied artificial intelligence on $47$ standard text-related visual benchmarks, while the latter provides the user-level evaluation of LVLMs in an open-world question-answering scenario. The study reveals several innovative findings. First, instruction-tuned LVLM with massive in-domain data such as InstructBLIP heavily overfits many existing tasks, generalizing poorly in the open-world scenario. Second, instruction-tuned LVLM with moderate instruction-following data may result in object hallucination issues (i.e., generate objects that are inconsistent with target images in the descriptions). It either makes the current evaluation metric such as CIDEr for image captioning ineffective or generates wrong answers. Third, employing a multi-turn reasoning evaluation framework can mitigate the issue of object hallucination, shedding light on developing an effective pipeline for LVLM evaluation. The findings provide a foundational framework for the conception and assessment of innovative strategies aimed at enhancing zero-shot multimodal techniques. Our LVLM-eHub will be available at //github.com/OpenGVLab/Multi-Modality-Arena

Code comment generation aims at generating natural language descriptions for a code snippet to facilitate developers' program comprehension activities. Despite being studied for a long time, a bottleneck for existing approaches is that given a code snippet, they can only generate one comment while developers usually need to know information from diverse perspectives such as what is the functionality of this code snippet and how to use it. To tackle this limitation, this study empirically investigates the feasibility of utilizing large language models (LLMs) to generate comments that can fulfill developers' diverse intents. Our intuition is based on the facts that (1) the code and its pairwise comment are used during the pre-training process of LLMs to build the semantic connection between the natural language and programming language, and (2) comments in the real-world projects, which are collected for the pre-training, usually contain different developers' intents. We thus postulate that the LLMs can already understand the code from different perspectives after the pre-training. Indeed, experiments on two large-scale datasets demonstrate the rationale of our insights: by adopting the in-context learning paradigm and giving adequate prompts to the LLM (e.g., providing it with ten or more examples), the LLM can significantly outperform a state-of-the-art supervised learning approach on generating comments with multiple intents. Results also show that customized strategies for constructing the prompts and post-processing strategies for reranking the results can both boost the LLM's performances, which shed light on future research directions for using LLMs to achieve comment generation.

This paper offers a comprehensive review of the research on Natural Language Generation (NLG) over the past two decades, especially in relation to data-to-text generation and text-to-text generation deep learning methods, as well as new applications of NLG technology. This survey aims to (a) give the latest synthesis of deep learning research on the NLG core tasks, as well as the architectures adopted in the field; (b) detail meticulously and comprehensively various NLG tasks and datasets, and draw attention to the challenges in NLG evaluation, focusing on different evaluation methods and their relationships; (c) highlight some future emphasis and relatively recent research issues that arise due to the increasing synergy between NLG and other artificial intelligence areas, such as computer vision, text and computational creativity.