We have recently witnessed a number of impressive results on hard mathematical reasoning problems with language models. At the same time, the robustness of these models has also been called into question; recent works have shown that models can rely on shallow patterns in the problem description when generating a solution. Building on the idea of behavioral testing, we propose a novel framework, which pins down the causal effect of various factors in the input, e.g., the surface form of the problem text, the operands, and math operators on the output solution. By grounding the behavioral analysis in a causal graph describing an intuitive reasoning process, we study the behavior of language models in terms of robustness and sensitivity to direct interventions in the input space. We apply our framework on a test bed of math word problems. Our analysis shows that robustness does not appear to continuously improve as a function of size, but the GPT-3 Davinci models (175B) achieve a dramatic improvement in both robustness and sensitivity compared to all other GPT variants.
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Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability in few-shot robotic planning. However, it remains challenging to ground LLMs in multimodal sensory input and continuous action output, while enabling a robot to interact with its environment and acquire novel information as its policies unfold. We develop a robot interaction scenario with a partially observable state, which necessitates a robot to decide on a range of epistemic actions in order to sample sensory information among multiple modalities, before being able to execute the task correctly. An interactive perception framework is therefore proposed with an LLM as its backbone, whose ability is exploited to instruct epistemic actions and to reason over the resulting multimodal sensations (vision, sound, haptics, proprioception), as well as to plan an entire task execution based on the interactively acquired information. Our study demonstrates that LLMs can provide high-level planning and reasoning skills and control interactive robot behavior in a multimodal environment, while multimodal modules with the context of the environmental state help ground the LLMs and extend their processing ability. The project website can be found at \href{//matcha-model.github.io}{\textcolor{blue}{//matcha-model.github.io/}}.
In this paper, we propose using deep neural architectures (i.e., vision transformers and ResNet) as heuristics for sequential decision-making in robotic manipulation problems. This formulation enables predicting the subset of objects that are relevant for completing a task. Such problems are often addressed by task and motion planning (TAMP) formulations combining symbolic reasoning and continuous motion planning. In essence, the action-object relationships are resolved for discrete, symbolic decisions that are used to solve manipulation motions (e.g., via nonlinear trajectory optimization). However, solving long-horizon tasks requires consideration of all possible action-object combinations which limits the scalability of TAMP approaches. To overcome this combinatorial complexity, we introduce a visual perception module integrated with a TAMP-solver. Given a task and an initial image of the scene, the learned model outputs the relevancy of objects to accomplish the task. By incorporating the predictions of the model into a TAMP formulation as a heuristic, the size of the search space is significantly reduced. Results show that our framework finds feasible solutions more efficiently when compared to a state-of-the-art TAMP solver.
Despite the recent success of large pretrained language models (LMs) on a variety of prompting tasks, these models can be alarmingly brittle to small changes in inputs or application contexts. To better understand such behavior and motivate the design of more robust LMs, we propose a general experimental framework, CALM (Competence-based Analysis of Language Models), where targeted causal interventions are utilized to damage an LM's internal representation of various linguistic properties in order to evaluate its use of each representation in performing a given task. We implement these interventions as gradient-based adversarial attacks, which (in contrast to prior causal probing methodologies) are able to target arbitrarily-encoded representations of relational properties, and carry out a case study of this approach to analyze how BERT-like LMs use representations of several relational properties in performing associated relation prompting tasks. We find that, while the representations LMs leverage in performing each task are highly entangled, they may be meaningfully interpreted in terms of the tasks where they are most utilized; and more broadly, that CALM enables an expanded scope of inquiry in LM analysis that may be useful in predicting and explaining weaknesses of existing LMs.
Large language models rely on real-valued representations of text to make their predictions. These representations contain information learned from the data that the model has trained on, including knowledge of linguistic properties and forms of demographic bias, e.g., based on gender. A growing body of work has considered removing information about concepts such as these using orthogonal projections onto subspaces of the representation space. We contribute to this body of work by proposing a formal definition of $\textit{intrinsic}$ information in a subspace of a language model's representation space. We propose a counterfactual approach that avoids the failure mode of spurious correlations (Kumar et al., 2022) by treating components in the subspace and its orthogonal complement independently. We show that our counterfactual notion of information in a subspace is optimized by a $\textit{causal}$ concept subspace. Furthermore, this intervention allows us to attempt concept controlled generation by manipulating the value of the conceptual component of a representation. Empirically, we find that R-LACE (Ravfogel et al., 2022) returns a one-dimensional subspace containing roughly half of total concept information under our framework. Our causal controlled intervention shows that, for at least one model, the subspace returned by R-LACE can be used to manipulate the concept value of the generated word with precision.
We provide a unified operational framework for the study of causality, non-locality and contextuality, in a fully device-independent and theory-independent setting. Our work has its roots in the sheaf-theoretic framework for contextuality by Abramsky and Brandenburger, which it extends to include arbitrary causal orders (be they definite, dynamical or indefinite). We define a notion of causal function for arbitrary spaces of input histories, and we show that the explicit imposition of causal constraints on joint outputs is equivalent to the free assignment of local outputs to the tip events of input histories. We prove factorisation results for causal functions over parallel, sequential, and conditional sequential compositions of the underlying spaces. We prove that causality is equivalent to continuity with respect to the lowerset topology on the underlying spaces, and we show that partial causal functions defined on open sub-spaces can be bundled into a presheaf. In a striking departure from the Abramsky-Brandenburger setting, however, we show that causal functions fail, under certain circumstances, to form a sheaf. We define empirical models as compatible families in the presheaf of probability distributions on causal functions, for arbitrary open covers of the underlying space of input histories. We show the existence of causally-induced contextuality, a phenomenon arising when the causal constraints themselves become context-dependent, and we prove a no-go result for non-locality on total orders, both static and dynamical.
Knowledge graph embedding (KGE) is a increasingly popular technique that aims to represent entities and relations of knowledge graphs into low-dimensional semantic spaces for a wide spectrum of applications such as link prediction, knowledge reasoning and knowledge completion. In this paper, we provide a systematic review of existing KGE techniques based on representation spaces. Particularly, we build a fine-grained classification to categorise the models based on three mathematical perspectives of the representation spaces: (1) Algebraic perspective, (2) Geometric perspective, and (3) Analytical perspective. We introduce the rigorous definitions of fundamental mathematical spaces before diving into KGE models and their mathematical properties. We further discuss different KGE methods over the three categories, as well as summarise how spatial advantages work over different embedding needs. By collating the experimental results from downstream tasks, we also explore the advantages of mathematical space in different scenarios and the reasons behind them. We further state some promising research directions from a representation space perspective, with which we hope to inspire researchers to design their KGE models as well as their related applications with more consideration of their mathematical space properties.
With the rise of powerful pre-trained vision-language models like CLIP, it becomes essential to investigate ways to adapt these models to downstream datasets. A recently proposed method named Context Optimization (CoOp) introduces the concept of prompt learning -- a recent trend in NLP -- to the vision domain for adapting pre-trained vision-language models. Specifically, CoOp turns context words in a prompt into a set of learnable vectors and, with only a few labeled images for learning, can achieve huge improvements over intensively-tuned manual prompts. In our study we identify a critical problem of CoOp: the learned context is not generalizable to wider unseen classes within the same dataset, suggesting that CoOp overfits base classes observed during training. To address the problem, we propose Conditional Context Optimization (CoCoOp), which extends CoOp by further learning a lightweight neural network to generate for each image an input-conditional token (vector). Compared to CoOp's static prompts, our dynamic prompts adapt to each instance and are thus less sensitive to class shift. Extensive experiments show that CoCoOp generalizes much better than CoOp to unseen classes, even showing promising transferability beyond a single dataset; and yields stronger domain generalization performance as well. Code is available at //github.com/KaiyangZhou/CoOp.
Commonsense causality reasoning (CCR) aims at identifying plausible causes and effects in natural language descriptions that are deemed reasonable by an average person. Although being of great academic and practical interest, this problem is still shadowed by the lack of a well-posed theoretical framework; existing work usually relies on deep language models wholeheartedly, and is potentially susceptible to confounding co-occurrences. Motivated by classical causal principles, we articulate the central question of CCR and draw parallels between human subjects in observational studies and natural languages to adopt CCR to the potential-outcomes framework, which is the first such attempt for commonsense tasks. We propose a novel framework, ROCK, to Reason O(A)bout Commonsense K(C)ausality, which utilizes temporal signals as incidental supervision, and balances confounding effects using temporal propensities that are analogous to propensity scores. The ROCK implementation is modular and zero-shot, and demonstrates good CCR capabilities on various datasets.
The problem of answering questions using knowledge from pre-trained language models (LMs) and knowledge graphs (KGs) presents two challenges: given a QA context (question and answer choice), methods need to (i) identify relevant knowledge from large KGs, and (ii) perform joint reasoning over the QA context and KG. In this work, we propose a new model, QA-GNN, which addresses the above challenges through two key innovations: (i) relevance scoring, where we use LMs to estimate the importance of KG nodes relative to the given QA context, and (ii) joint reasoning, where we connect the QA context and KG to form a joint graph, and mutually update their representations through graph neural networks. We evaluate QA-GNN on the CommonsenseQA and OpenBookQA datasets, and show its improvement over existing LM and LM+KG models, as well as its capability to perform interpretable and structured reasoning, e.g., correctly handling negation in questions.
Reasoning with knowledge expressed in natural language and Knowledge Bases (KBs) is a major challenge for Artificial Intelligence, with applications in machine reading, dialogue, and question answering. General neural architectures that jointly learn representations and transformations of text are very data-inefficient, and it is hard to analyse their reasoning process. These issues are addressed by end-to-end differentiable reasoning systems such as Neural Theorem Provers (NTPs), although they can only be used with small-scale symbolic KBs. In this paper we first propose Greedy NTPs (GNTPs), an extension to NTPs addressing their complexity and scalability limitations, thus making them applicable to real-world datasets. This result is achieved by dynamically constructing the computation graph of NTPs and including only the most promising proof paths during inference, thus obtaining orders of magnitude more efficient models. Then, we propose a novel approach for jointly reasoning over KBs and textual mentions, by embedding logic facts and natural language sentences in a shared embedding space. We show that GNTPs perform on par with NTPs at a fraction of their cost while achieving competitive link prediction results on large datasets, providing explanations for predictions, and inducing interpretable models. Source code, datasets, and supplementary material are available online at //github.com/uclnlp/gntp.
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