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We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses planning and execution capabilities, and poses challenges in perception, reasoning, manipulation, diagnostics, fault recovery, and goal parsing. RAMP has been designed to be accessible and extensible. Parts are either 3D printed or otherwise constructed from materials that are readily obtainable. The design of parts and detailed instructions are publicly available. In order to broaden community engagement, RAMP incorporates fixtures such as April Tags which enable researchers to focus on individual sub-tasks of the assembly challenge if desired. We provide a full digital twin as well as rudimentary baselines to enable rapid progress. Our vision is for RAMP to form the substrate for a community-driven endeavour that evolves as capability matures.

We present ToddlerBERTa, a BabyBERTa-like language model, exploring its capabilities through five different models with varied hyperparameters. Evaluating on BLiMP, SuperGLUE, MSGS, and a Supplement benchmark from the BabyLM challenge, we find that smaller models can excel in specific tasks, while larger models perform well with substantial data. Despite training on a smaller dataset, ToddlerBERTa demonstrates commendable performance, rivalling the state-of-the-art RoBERTa-base. The model showcases robust language understanding, even with single-sentence pretraining, and competes with baselines that leverage broader contextual information. Our work provides insights into hyperparameter choices, and data utilization, contributing to the advancement of language models.

Foundation Models (FMs), such as LLaMA, BERT, GPT, ViT, and CLIP, have demonstrated remarkable success in a wide range of applications, driven by their ability to leverage vast amounts of data for pre-training. However, optimizing FMs often requires access to sensitive data, raising privacy concerns and limiting their applicability in many domains. In this paper, we propose the Federated Foundation Models (FFMs) paradigm, which combines the benefits of FMs and Federated Learning (FL) to enable privacy-preserving and collaborative learning across multiple end-users. We discuss the potential benefits and challenges of integrating FL into the lifespan of FMs, covering pre-training, fine-tuning, and application. We further outline potential future research avenues in FFM, including FFM pre-training, FFM fine-tuning, and federated prompt tuning, which allow the development of more personalized and context-aware models while ensuring data privacy. Moreover, we explore the possibility of continual/lifelong learning in FFMs, as increased computational power at the edge may unlock the potential for optimizing FMs using newly generated private data close to the data source. The proposed FFM concepts offer a flexible and scalable framework for training large language models in a privacy-preserving manner, setting the stage for subsequent advancements in both FM training and federated learning.

Misunderstandings arise not only in interpersonal communication but also between humans and Large Language Models (LLMs). Such discrepancies can make LLMs interpret seemingly unambiguous questions in unexpected ways, yielding incorrect responses. While it is widely acknowledged that the quality of a prompt, such as a question, significantly impacts the quality of the response provided by LLMs, a systematic method for crafting questions that LLMs can better comprehend is still underdeveloped. In this paper, we present a method named `Rephrase and Respond' (RaR), which allows LLMs to rephrase and expand questions posed by humans and provide responses in a single prompt. This approach serves as a simple yet effective prompting method for improving performance. We also introduce a two-step variant of RaR, where a rephrasing LLM first rephrases the question and then passes the original and rephrased questions together to a different responding LLM. This facilitates the effective utilization of rephrased questions generated by one LLM with another. Our experiments demonstrate that our methods significantly improve the performance of different models across a wide range to tasks. We further provide a comprehensive comparison between RaR and the popular Chain-of-Thought (CoT) methods, both theoretically and empirically. We show that RaR is complementary to CoT and can be combined with CoT to achieve even better performance. Our work not only contributes to enhancing LLM performance efficiently and effectively but also sheds light on a fair evaluation of LLM capabilities. Data and codes are available at //github.com/uclaml/Rephrase-and-Respond.

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of regions of interest (RoIs). On the other hand, fusion at the intermediate level is more adaptive because it does not need RoIs from modalities but is complex as the features of both modalities are presented from different points of view. In this paper, we propose a new intermediate-level multi-modal fusion (mmFUSION) approach to overcome these challenges. First, the mmFUSION uses separate encoders for each modality to compute features at a desired lower space volume. Second, these features are fused through cross-modality and multi-modality attention mechanisms proposed in mmFUSION. The mmFUSION framework preserves multi-modal information and learns to complement modalities' deficiencies through attention weights. The strong multi-modal features from the mmFUSION framework are fed to a simple 3D detection head for 3D predictions. We evaluate mmFUSION on the KITTI and NuScenes dataset where it performs better than available early, intermediate, late, and even two-stage based fusion schemes. The code with the mmdetection3D project plugin will be publicly available soon.

With recent advancements in natural language processing, Large Language Models (LLMs) have emerged as powerful tools for various real-world applications. Despite their prowess, the intrinsic generative abilities of LLMs may prove insufficient for handling complex tasks which necessitate a combination of task planning and the usage of external tools. In this paper, we first propose a structured framework tailored for LLM-based AI Agents and discuss the crucial capabilities necessary for tackling intricate problems. Within this framework, we design two distinct types of agents (i.e., one-step agent and sequential agent) to execute the inference process. Subsequently, we instantiate the framework using various LLMs and evaluate their Task Planning and Tool Usage (TPTU) abilities on typical tasks. By highlighting key findings and challenges, our goal is to provide a helpful resource for researchers and practitioners to leverage the power of LLMs in their AI applications. Our study emphasizes the substantial potential of these models, while also identifying areas that need more investigation and improvement.

Fully Homomorphic Encryption (FHE) has the potential to substantially improve privacy and security by enabling computation on encrypted data. This is especially true with deep learning, as today many popular user services are powered by neural networks. One of the major challenges facing wide-scale deployment of FHE-secured neural inference is effectively mapping them to the FHE domain. FHE poses many programming challenges including packing large vectors, handling expensive rotations, and correctly implementing complex strided convolutions. This makes programming FHE inferences prone to poor performance and errors. In this paper we overcome these challenges with Orion, an automated optimizing FHE compiler for neural inference. Orion automatically maps PyTorch-specified networks to FHE, handling common layer types and arbitrary tensor shapes and strides. Moreover, we develop novel optimizations that balance dense FHE vector packing, efficient rotations, and minimize operations to improve performance. We have implemented Orion, which will be open sourced, and evaluated it on common benchmarks used by the FHE deep learning community. We compare Orion to multiple state-of-the-art solutions and report iso-accuracy speedups ranging from 2.7$\times$ to 20.5$\times$.

Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction which lead to previously unseen states. Choosing an action representation for the policy that minimizes this distribution shift is critical in imitation learning. Prior work propose using temporal action abstractions to reduce compounding errors, but they often sacrifice policy dexterity or require domain-specific knowledge. To address these trade-offs, we introduce HYDRA, a method that leverages a hybrid action space with two levels of action abstractions: sparse high-level waypoints and dense low-level actions. HYDRA dynamically switches between action abstractions at test time to enable both coarse and fine-grained control of a robot. In addition, HYDRA employs action relabeling to increase the consistency of actions in the dataset, further reducing distribution shift. HYDRA outperforms prior imitation learning methods by 30-40% on seven challenging simulation and real world environments, involving long-horizon tasks in the real world like making coffee and toasting bread. Videos are found on our website: //tinyurl.com/3mc6793z

Multimodal counterfactual reasoning is a vital yet challenging ability for AI systems. It involves predicting the outcomes of hypothetical circumstances based on vision and language inputs, which enables AI models to learn from failures and explore hypothetical scenarios. Despite its importance, there are only a few datasets targeting the counterfactual reasoning abilities of multimodal models. Among them, they only cover reasoning over synthetic environments or specific types of events (e.g. traffic collisions), making them hard to reliably benchmark the model generalization ability in diverse real-world scenarios and reasoning dimensions. To overcome these limitations, we develop a video question answering dataset, ACQUIRED: it consists of 3.9K annotated videos, encompassing a wide range of event types and incorporating both first and third-person viewpoints, which ensures a focus on real-world diversity. In addition, each video is annotated with questions that span three distinct dimensions of reasoning, including physical, social, and temporal, which can comprehensively evaluate the model counterfactual abilities along multiple aspects. We benchmark our dataset against several state-of-the-art language-only and multimodal models and experimental results demonstrate a significant performance gap (>13%) between models and humans. The findings suggest that multimodal counterfactual reasoning remains an open challenge and ACQUIRED is a comprehensive and reliable benchmark for inspiring future research in this direction.

Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.