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Dec 11

GTPBD: A Fine-Grained Global Terraced Parcel and Boundary Dataset

Agricultural parcels serve as basic units for conducting agricultural practices and applications, which is vital for land ownership registration, food security assessment, soil erosion monitoring, etc. However, existing agriculture parcel extraction studies only focus on mid-resolution mapping or regular plain farmlands while lacking representation of complex terraced terrains due to the demands of precision agriculture.In this paper, we introduce a more fine-grained terraced parcel dataset named GTPBD (Global Terraced Parcel and Boundary Dataset), which is the first fine-grained dataset covering major worldwide terraced regions with more than 200,000 complex terraced parcels with manual annotation. GTPBD comprises 47,537 high-resolution images with three-level labels, including pixel-level boundary labels, mask labels, and parcel labels. It covers seven major geographic zones in China and transcontinental climatic regions around the world.Compared to the existing datasets, the GTPBD dataset brings considerable challenges due to the: (1) terrain diversity; (2) complex and irregular parcel objects; and (3) multiple domain styles. Our proposed GTPBD dataset is suitable for four different tasks, including semantic segmentation, edge detection, terraced parcel extraction, and unsupervised domain adaptation (UDA) tasks.Accordingly, we benchmark the GTPBD dataset on eight semantic segmentation methods, four edge extraction methods, three parcel extraction methods, and five UDA methods, along with a multi-dimensional evaluation framework integrating pixel-level and object-level metrics. GTPBD fills a critical gap in terraced remote sensing research, providing a basic infrastructure for fine-grained agricultural terrain analysis and cross-scenario knowledge transfer.

  • 7 authors
·
Jul 19

DREAM: Improving Situational QA by First Elaborating the Situation

When people answer questions about a specific situation, e.g., "I cheated on my mid-term exam last week. Was that wrong?", cognitive science suggests that they form a mental picture of that situation before answering. While we do not know how language models (LMs) answer such questions, we conjecture that they may answer more accurately if they are also provided with additional details about the question situation, elaborating the "scene". To test this conjecture, we train a new model, DREAM, to answer questions that elaborate the scenes that situated questions are about, and then provide those elaborations as additional context to a question-answering (QA) model. We find that DREAM is able to create better scene elaborations (more accurate, useful, and consistent) than a representative state-of-the-art, zero-shot model (Macaw). We also find that using the scene elaborations as additional context improves the answer accuracy of a downstream QA system, including beyond that obtainable by simply further finetuning the QA system on DREAM's training data. These results suggest that adding focused elaborations about a situation can improve a system's reasoning about it, and may serve as an effective way of injecting new scenario based knowledge into QA models. Finally, our approach is dataset-neutral; we observe improved QA performance across different models, with even bigger gains on models with fewer parameters. We make our dataset and model publicly available at https://github.com/allenai/dream.

  • 3 authors
·
Dec 16, 2021

Practical, Automated Scenario-based Mobile App Testing

The importance of mobile application (app) quality insurance is increasing with the rapid development of the mobile Internet. Automated test generation approaches, as a dominant direction of app quality insurance, follow specific models or strategies, targeting at optimizing the code coverage. Such approaches lead to a huge gap between testing execution and app business logic. Test scripts developed by human testers consider business logic by focusing on testing scenarios. Due to the GUI-intensive feature of mobile apps, human testers always understand app GUI to organize test scripts for scenarios. This inspires us to utilize domain knowledge from app GUI understanding for scenario-based test generation. In this paper, we propose a novel approach, ScenTest, for scenario-based mobile app testing with event knowledge graph (EKG) via GUI image understanding. ScenTest tries to start automated testing by imitating human practices and integrating domain knowledge into scenario-based mobile app testing, realizing fully automated testing on target testing scenarios for the first time. ScenTest extracts four kinds of entities and five kinds of corresponding relationships from crowdsourced test reports, where the test events and app GUI information are presented, and constructs the EKGs for specific scenarios. Then, ScenTest conducts test generation for specific scenarios on different apps with the guidance of EKG with the combination consideration of app current state and testing context. We conduct an evaluation on ScenTest on different aspects. The results show that the test generation of ScenTest on the basis of EKG is effective, and ScenTest can reveal 80+ distinct real-world bugs in specific scenarios compared with representative baselines.

  • 6 authors
·
Jun 12, 2024

On the Higgs spectra of the 3-3-1 model with the sextet of scalars engendering the type II seesaw mechanism

In the 3-3-1 model with right-handed neutrinos, three triplets of scalars engender the correct sequence of symmetry breaking, SU(3)_C times SU(3)_L times U(1)_X rightarrow SU(3)_C times SU(2)_L times U(1)_Y rightarrow SU(3)_C times U(1)_{EM}, generating mass for all fermions, except neutrinos. Tiny neutrino masses may be achieved by adding one sextet of scalars to the original scalar content. As consequence, it emerges a very complex scalar sector, involving terms that violate lepton number explicitly, too. The main obstacle to the development of the phenomenology of such scenario is the knowledge of its spectrum of scalars since, now, there are 15 massive scalar particles on it. The proposal of this work is to do an exhaustive analysis of such scalar sector with lepton number being explicitly violated at low, electroweak and high energy scales by means of trilinear terms in the potential. The first case can be addressed analytically and, as a nice result, we have observed that the scalar content of such case is split into two categories: One belonging to the 331 energy scale and the other belonging to the EWSB energy scale, with the last recovering the well known THDM+triplet. For the other cases, the scalar sector can be addressed only numerically. Hence, we proposed a very general approach for the numerical study of the potential, avoiding simplifications that can make us reach conclusions without foundation. We show that, in the case of lepton number being explicitly violated at electroweak scale, it is possible to recover the same physics of the THDM+triplet, as the previous case. Among all the possibilities, we call the attention to one special case which generates the 3HDM+triplet scenario. For the last case, when lepton number is violated at high energy scale, the sextet become very massive and decouples from the original scalar content of the 3-3-1 model.

  • 2 authors
·
Dec 20, 2022

Can Knowledge Graphs Make Large Language Models More Trustworthy? An Empirical Study Over Open-ended Question Answering

Recent works integrating Knowledge Graphs (KGs) have led to promising improvements in enhancing the reasoning accuracy of Large Language Models (LLMs). However, current benchmarks focus mainly on closed-ended tasks, leaving a gap in the assessment of more complex real-world scenarios. This gap has also obscured the evaluation of KGs' potential to mitigate the problem of hallucination in LLMs. To fill the gap, we introduce OKGQA, a new benchmark specifically designed to assess LLMs enhanced with KGs under open-ended, real-world question answering scenarios. OKGQA is designed to closely reflect the complexities of practical applications using questions from different types, and incorporates specific metrics to measure both hallucination ratio and the enhancement in reasoning capabilities. To consider the scenario in which KGs may have varying levels of mistakes, we propose another benchmark variant OKGQA-P to assess model performance when the semantics and structure of KGs are deliberately perturbed and contaminated. OKGQA aims to (1) explore whether KGs can make LLMs more trustworthy in an open-ended setting, and (2) conduct a comparative analysis to shed light on method design. We believe that this study can facilitate a more complete performance comparison and encourage continuous improvement in integrating KGs with LLMs to reduce hallucination.

  • 4 authors
·
Oct 10, 2024

Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis

For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing have emerged as key approaches to development and validation of autonomous driving systems. Traditional scenario generation relies on rule-based systems, knowledge-driven models, and data-driven synthesis, often producing limited diversity and unrealistic safety-critical cases. With the emergence of foundation models, which represent a new generation of pre-trained, general-purpose AI models, developers can process heterogeneous inputs (e.g., natural language, sensor data, HD maps, and control actions), enabling the synthesis and interpretation of complex driving scenarios. In this paper, we conduct a survey about the application of foundation models for scenario generation and scenario analysis in autonomous driving (as of May 2025). Our survey presents a unified taxonomy that includes large language models, vision-language models, multimodal large language models, diffusion models, and world models for the generation and analysis of autonomous driving scenarios. In addition, we review the methodologies, open-source datasets, simulation platforms, and benchmark challenges, and we examine the evaluation metrics tailored explicitly to scenario generation and analysis. Finally, the survey concludes by highlighting the open challenges and research questions, and outlining promising future research directions. All reviewed papers are listed in a continuously maintained repository, which contains supplementary materials and is available at https://github.com/TUM-AVS/FM-for-Scenario-Generation-Analysis.

  • 15 authors
·
Jun 13

Knowledge Graph-based Retrieval-Augmented Generation for Schema Matching

Traditional similarity-based schema matching methods are incapable of resolving semantic ambiguities and conflicts in domain-specific complex mapping scenarios due to missing commonsense and domain-specific knowledge. The hallucination problem of large language models (LLMs) also makes it challenging for LLM-based schema matching to address the above issues. Therefore, we propose a Knowledge Graph-based Retrieval-Augmented Generation model for Schema Matching, referred to as the KG-RAG4SM. In particular, KG-RAG4SM introduces novel vector-based, graph traversal-based, and query-based graph retrievals, as well as a hybrid approach and ranking schemes that identify the most relevant subgraphs from external large knowledge graphs (KGs). We showcase that KG-based retrieval-augmented LLMs are capable of generating more accurate results for complex matching cases without any re-training. Our experimental results show that KG-RAG4SM outperforms the LLM-based state-of-the-art (SOTA) methods (e.g., Jellyfish-8B) by 35.89% and 30.50% in terms of precision and F1 score on the MIMIC dataset, respectively; KG-RAG4SM with GPT-4o-mini outperforms the pre-trained language model (PLM)-based SOTA methods (e.g., SMAT) by 69.20% and 21.97% in terms of precision and F1 score on the Synthea dataset, respectively. The results also demonstrate that our approach is more efficient in end-to-end schema matching, and scales to retrieve from large KGs. Our case studies on the dataset from the real-world schema matching scenario exhibit that the hallucination problem of LLMs for schema matching is well mitigated by our solution.

  • 4 authors
·
Jan 15

Using Advanced LLMs to Enhance Smaller LLMs: An Interpretable Knowledge Distillation Approach

Advanced Large language models (LLMs) like GPT-4 or LlaMa 3 provide superior performance in complex human-like interactions. But they are costly, or too large for edge devices such as smartphones and harder to self-host, leading to security and privacy concerns. This paper introduces a novel interpretable knowledge distillation approach to enhance the performance of smaller, more economical LLMs that firms can self-host. We study this problem in the context of building a customer service agent aimed at achieving high customer satisfaction through goal-oriented dialogues. Unlike traditional knowledge distillation, where the "student" model learns directly from the "teacher" model's responses via fine-tuning, our interpretable "strategy" teaching approach involves the teacher providing strategies to improve the student's performance in various scenarios. This method alternates between a "scenario generation" step and a "strategies for improvement" step, creating a customized library of scenarios and optimized strategies for automated prompting. The method requires only black-box access to both student and teacher models; hence it can be used without manipulating model parameters. In our customer service application, the method improves performance, and the learned strategies are transferable to other LLMs and scenarios beyond the training set. The method's interpretabilty helps safeguard against potential harms through human audit.

  • 3 authors
·
Aug 13, 2024

Knowledgeable Preference Alignment for LLMs in Domain-specific Question Answering

Recently, the development of large language models (LLMs) has attracted wide attention in academia and industry. Deploying LLMs to real scenarios is one of the key directions in the current Internet industry. In this paper, we present a novel pipeline to apply LLMs for domain-specific question answering (QA) that incorporates domain knowledge graphs (KGs), addressing an important direction of LLM application. As a real-world application, the content generated by LLMs should be user-friendly to serve the customers. Additionally, the model needs to utilize domain knowledge properly to generate reliable answers. These two issues are the two major difficulties in the LLM application as vanilla fine-tuning can not adequately address them. We think both requirements can be unified as the model preference problem that needs to align with humans to achieve practical application. Thus, we introduce Knowledgeable Preference AlignmenT (KnowPAT), which constructs two kinds of preference set called style preference set and knowledge preference set respectively to tackle the two issues. Besides, we design a new alignment objective to align the LLM preference with human preference, aiming to train a better LLM for real-scenario domain-specific QA to generate reliable and user-friendly answers. Adequate experiments and comprehensive with 15 baseline methods demonstrate that our KnowPAT is an outperforming pipeline for real-scenario domain-specific QA with LLMs. Our code is open-source at https://github.com/zjukg/KnowPAT.

  • 8 authors
·
Nov 11, 2023

LLM-Powered Decentralized Generative Agents with Adaptive Hierarchical Knowledge Graph for Cooperative Planning

Developing intelligent agents for long-term cooperation in dynamic open-world scenarios is a major challenge in multi-agent systems. Traditional Multi-agent Reinforcement Learning (MARL) frameworks like centralized training decentralized execution (CTDE) struggle with scalability and flexibility. They require centralized long-term planning, which is difficult without custom reward functions, and face challenges in processing multi-modal data. CTDE approaches also assume fixed cooperation strategies, making them impractical in dynamic environments where agents need to adapt and plan independently. To address decentralized multi-agent cooperation, we propose Decentralized Adaptive Knowledge Graph Memory and Structured Communication System (DAMCS) in a novel Multi-agent Crafter environment. Our generative agents, powered by Large Language Models (LLMs), are more scalable than traditional MARL agents by leveraging external knowledge and language for long-term planning and reasoning. Instead of fully sharing information from all past experiences, DAMCS introduces a multi-modal memory system organized as a hierarchical knowledge graph and a structured communication protocol to optimize agent cooperation. This allows agents to reason from past interactions and share relevant information efficiently. Experiments on novel multi-agent open-world tasks show that DAMCS outperforms both MARL and LLM baselines in task efficiency and collaboration. Compared to single-agent scenarios, the two-agent scenario achieves the same goal with 63% fewer steps, and the six-agent scenario with 74% fewer steps, highlighting the importance of adaptive memory and structured communication in achieving long-term goals. We publicly release our project at: https://happyeureka.github.io/damcs.

  • 5 authors
·
Feb 8

Biomedical and Clinical Language Models for Spanish: On the Benefits of Domain-Specific Pretraining in a Mid-Resource Scenario

This work presents biomedical and clinical language models for Spanish by experimenting with different pretraining choices, such as masking at word and subword level, varying the vocabulary size and testing with domain data, looking for better language representations. Interestingly, in the absence of enough clinical data to train a model from scratch, we applied mixed-domain pretraining and cross-domain transfer approaches to generate a performant bio-clinical model suitable for real-world clinical data. We evaluated our models on Named Entity Recognition (NER) tasks for biomedical documents and challenging hospital discharge reports. When compared against the competitive mBERT and BETO models, we outperform them in all NER tasks by a significant margin. Finally, we studied the impact of the model's vocabulary on the NER performances by offering an interesting vocabulary-centric analysis. The results confirm that domain-specific pretraining is fundamental to achieving higher performances in downstream NER tasks, even within a mid-resource scenario. To the best of our knowledge, we provide the first biomedical and clinical transformer-based pretrained language models for Spanish, intending to boost native Spanish NLP applications in biomedicine. Our best models are freely available in the HuggingFace hub: https://huggingface.co/BSC-TeMU.

  • 7 authors
·
Sep 8, 2021

MoM: Mixtures of Scenario-Aware Document Memories for Retrieval-Augmented Generation Systems

The traditional RAG paradigm, which typically engages in the comprehension of relevant text chunks in response to received queries, inherently restricts both the depth of knowledge internalization and reasoning capabilities. To address this limitation, our research transforms the text processing in RAG from passive chunking to proactive understanding, defining this process as document memory extraction with the objective of simulating human cognitive processes during reading. Building upon this, we propose the Mixtures of scenario-aware document Memories (MoM) framework, engineered to efficiently handle documents from multiple domains and train small language models (SLMs) to acquire the ability to proactively explore and construct document memories. The MoM initially instructs large language models (LLMs) to simulate domain experts in generating document logical outlines, thereby directing structured chunking and core content extraction. It employs a multi-path sampling and multi-perspective evaluation mechanism, specifically designing comprehensive metrics that represent chunk clarity and extraction completeness to select the optimal document memories. Additionally, to infuse deeper human-like reading abilities during the training of SLMs, we incorporate a reverse reasoning strategy, which deduces refined expert thinking paths from high-quality outcomes. Finally, leveraging diverse forms of content generated by MoM, we develop a three-layer document memory retrieval mechanism, which is grounded in our theoretical proof from the perspective of probabilistic modeling. Extensive experimental results across three distinct domains demonstrate that the MoM framework not only resolves text chunking challenges in existing RAG systems, providing LLMs with semantically complete document memories, but also paves the way for SLMs to achieve human-centric intelligent text processing.

  • 6 authors
·
Oct 15 2

From Accidents to Insights: Leveraging Multimodal Data for Scenario-Driven ADS Testing

The rapid advancements in Autonomous Driving Systems (ADS) have necessitated robust software testing to ensure safety and reliability. However, automating the generation of scalable and concrete test scenarios remains a significant challenge. Current scenario-based test case generation methods often face limitations, such as unrealistic scenes and inaccurate vehicle trajectories. These challenges largely result from the loss of map information during data extraction and the lack of an effective verification mechanism to mitigate hallucinations in large language models (LLMs). This paper introduces TRACE, a scenario-based ADS Test case Generation framework for Critical Scenarios. By leveraging multimodal data to extract challenging scenarios from real-world car crash reports, TRACE constructs numerous critical test cases with less data, significantly enhancing ADS bug detection efficiency. Using in-context learning, chain-of-thought prompting, and self-validation approaches, we use LLMs to extract environmental and road network information from crash reports. For vehicle trajectory planning, data containing map information and vehicle coordinates serves as a knowledge base to build a ChatGPT-based LLM with path-planning capabilities, which we named TrackMate. Based on 50 existing crash reports, our approach successfully tested three ADS models across two simulation platforms, MetaDrive and BeamNG. Of the 290 constructed test scenarios, 127 are identified as critical, as they resulted in vehicle collisions. Additionally, user feedback reveals that TRACE demonstrates superior scenario reconstruction accuracy, with 77.5% of the scenarios being rated as 'mostly or 'totally' consistent, compared to only 27% for the most related SOTA, LCTGen.

  • 4 authors
·
Feb 4

From Known to the Unknown: Transferring Knowledge to Answer Questions about Novel Visual and Semantic Concepts

Current Visual Question Answering (VQA) systems can answer intelligent questions about `Known' visual content. However, their performance drops significantly when questions about visually and linguistically `Unknown' concepts are presented during inference (`Open-world' scenario). A practical VQA system should be able to deal with novel concepts in real world settings. To address this problem, we propose an exemplar-based approach that transfers learning (i.e., knowledge) from previously `Known' concepts to answer questions about the `Unknown'. We learn a highly discriminative joint embedding space, where visual and semantic features are fused to give a unified representation. Once novel concepts are presented to the model, it looks for the closest match from an exemplar set in the joint embedding space. This auxiliary information is used alongside the given Image-Question pair to refine visual attention in a hierarchical fashion. Since handling the high dimensional exemplars on large datasets can be a significant challenge, we introduce an efficient matching scheme that uses a compact feature description for search and retrieval. To evaluate our model, we propose a new split for VQA, separating Unknown visual and semantic concepts from the training set. Our approach shows significant improvements over state-of-the-art VQA models on the proposed Open-World VQA dataset and standard VQA datasets.

  • 3 authors
·
Nov 30, 2018

Assessing Language Model Deployment with Risk Cards

This paper introduces RiskCards, a framework for structured assessment and documentation of risks associated with an application of language models. As with all language, text generated by language models can be harmful, or used to bring about harm. Automating language generation adds both an element of scale and also more subtle or emergent undesirable tendencies to the generated text. Prior work establishes a wide variety of language model harms to many different actors: existing taxonomies identify categories of harms posed by language models; benchmarks establish automated tests of these harms; and documentation standards for models, tasks and datasets encourage transparent reporting. However, there is no risk-centric framework for documenting the complexity of a landscape in which some risks are shared across models and contexts, while others are specific, and where certain conditions may be required for risks to manifest as harms. RiskCards address this methodological gap by providing a generic framework for assessing the use of a given language model in a given scenario. Each RiskCard makes clear the routes for the risk to manifest harm, their placement in harm taxonomies, and example prompt-output pairs. While RiskCards are designed to be open-source, dynamic and participatory, we present a "starter set" of RiskCards taken from a broad literature survey, each of which details a concrete risk presentation. Language model RiskCards initiate a community knowledge base which permits the mapping of risks and harms to a specific model or its application scenario, ultimately contributing to a better, safer and shared understanding of the risk landscape.

  • 7 authors
·
Mar 31, 2023

Follow the Rules: Reasoning for Video Anomaly Detection with Large Language Models

Video Anomaly Detection (VAD) is crucial for applications such as security surveillance and autonomous driving. However, existing VAD methods provide little rationale behind detection, hindering public trust in real-world deployments. In this paper, we approach VAD with a reasoning framework. Although Large Language Models (LLMs) have shown revolutionary reasoning ability, we find that their direct use falls short of VAD. Specifically, the implicit knowledge pre-trained in LLMs focuses on general context and thus may not apply to every specific real-world VAD scenario, leading to inflexibility and inaccuracy. To address this, we propose AnomalyRuler, a novel rule-based reasoning framework for VAD with LLMs. AnomalyRuler comprises two main stages: induction and deduction. In the induction stage, the LLM is fed with few-shot normal reference samples and then summarizes these normal patterns to induce a set of rules for detecting anomalies. The deduction stage follows the induced rules to spot anomalous frames in test videos. Additionally, we design rule aggregation, perception smoothing, and robust reasoning strategies to further enhance AnomalyRuler's robustness. AnomalyRuler is the first reasoning approach for the one-class VAD task, which requires only few-normal-shot prompting without the need for full-shot training, thereby enabling fast adaption to various VAD scenarios. Comprehensive experiments across four VAD benchmarks demonstrate AnomalyRuler's state-of-the-art detection performance and reasoning ability. AnomalyRuler is open-source and available at: https://github.com/Yuchen413/AnomalyRuler

  • 5 authors
·
Jul 14, 2024

Topic-FlipRAG: Topic-Orientated Adversarial Opinion Manipulation Attacks to Retrieval-Augmented Generation Models

Retrieval-Augmented Generation (RAG) systems based on Large Language Models (LLMs) have become essential for tasks such as question answering and content generation. However, their increasing impact on public opinion and information dissemination has made them a critical focus for security research due to inherent vulnerabilities. Previous studies have predominantly addressed attacks targeting factual or single-query manipulations. In this paper, we address a more practical scenario: topic-oriented adversarial opinion manipulation attacks on RAG models, where LLMs are required to reason and synthesize multiple perspectives, rendering them particularly susceptible to systematic knowledge poisoning. Specifically, we propose Topic-FlipRAG, a two-stage manipulation attack pipeline that strategically crafts adversarial perturbations to influence opinions across related queries. This approach combines traditional adversarial ranking attack techniques and leverages the extensive internal relevant knowledge and reasoning capabilities of LLMs to execute semantic-level perturbations. Experiments show that the proposed attacks effectively shift the opinion of the model's outputs on specific topics, significantly impacting user information perception. Current mitigation methods cannot effectively defend against such attacks, highlighting the necessity for enhanced safeguards for RAG systems, and offering crucial insights for LLM security research.

  • 8 authors
·
Feb 3

PhysMaster: Mastering Physical Representation for Video Generation via Reinforcement Learning

Video generation models nowadays are capable of generating visually realistic videos, but often fail to adhere to physical laws, limiting their ability to generate physically plausible videos and serve as ''world models''. To address this issue, we propose PhysMaster, which captures physical knowledge as a representation for guiding video generation models to enhance their physics-awareness. Specifically, PhysMaster is based on the image-to-video task where the model is expected to predict physically plausible dynamics from the input image. Since the input image provides physical priors like relative positions and potential interactions of objects in the scenario, we devise PhysEncoder to encode physical information from it as an extra condition to inject physical knowledge into the video generation process. The lack of proper supervision on the model's physical performance beyond mere appearance motivates PhysEncoder to apply reinforcement learning with human feedback to physical representation learning, which leverages feedback from generation models to optimize physical representations with Direct Preference Optimization (DPO) in an end-to-end manner. PhysMaster provides a feasible solution for improving physics-awareness of PhysEncoder and thus of video generation, proving its ability on a simple proxy task and generalizability to wide-ranging physical scenarios. This implies that our PhysMaster, which unifies solutions for various physical processes via representation learning in the reinforcement learning paradigm, can act as a generic and plug-in solution for physics-aware video generation and broader applications.

  • 5 authors
·
Oct 15 2

TASAR: Transfer-based Attack on Skeletal Action Recognition

Skeletal sequence data, as a widely employed representation of human actions, are crucial in Human Activity Recognition (HAR). Recently, adversarial attacks have been proposed in this area, which exposes potential security concerns, and more importantly provides a good tool for model robustness test. Within this research, transfer-based attack is an important tool as it mimics the real-world scenario where an attacker has no knowledge of the target model, but is under-explored in Skeleton-based HAR (S-HAR). Consequently, existing S-HAR attacks exhibit weak adversarial transferability and the reason remains largely unknown. In this paper, we investigate this phenomenon via the characterization of the loss function. We find that one prominent indicator of poor transferability is the low smoothness of the loss function. Led by this observation, we improve the transferability by properly smoothening the loss when computing the adversarial examples. This leads to the first Transfer-based Attack on Skeletal Action Recognition, TASAR. TASAR explores the smoothened model posterior of pre-trained surrogates, which is achieved by a new post-train Dual Bayesian optimization strategy. Furthermore, unlike existing transfer-based methods which overlook the temporal coherence within sequences, TASAR incorporates motion dynamics into the Bayesian attack, effectively disrupting the spatial-temporal coherence of S-HARs. For exhaustive evaluation, we build the first large-scale robust S-HAR benchmark, comprising 7 S-HAR models, 10 attack methods, 3 S-HAR datasets and 2 defense models. Extensive results demonstrate the superiority of TASAR. Our benchmark enables easy comparisons for future studies, with the code available in the https://github.com/yunfengdiao/Skeleton-Robustness-Benchmark.

  • 8 authors
·
Sep 4, 2024

Large Language Model Watermark Stealing With Mixed Integer Programming

The Large Language Model (LLM) watermark is a newly emerging technique that shows promise in addressing concerns surrounding LLM copyright, monitoring AI-generated text, and preventing its misuse. The LLM watermark scheme commonly includes generating secret keys to partition the vocabulary into green and red lists, applying a perturbation to the logits of tokens in the green list to increase their sampling likelihood, thus facilitating watermark detection to identify AI-generated text if the proportion of green tokens exceeds a threshold. However, recent research indicates that watermarking methods using numerous keys are susceptible to removal attacks, such as token editing, synonym substitution, and paraphrasing, with robustness declining as the number of keys increases. Therefore, the state-of-the-art watermark schemes that employ fewer or single keys have been demonstrated to be more robust against text editing and paraphrasing. In this paper, we propose a novel green list stealing attack against the state-of-the-art LLM watermark scheme and systematically examine its vulnerability to this attack. We formalize the attack as a mixed integer programming problem with constraints. We evaluate our attack under a comprehensive threat model, including an extreme scenario where the attacker has no prior knowledge, lacks access to the watermark detector API, and possesses no information about the LLM's parameter settings or watermark injection/detection scheme. Extensive experiments on LLMs, such as OPT and LLaMA, demonstrate that our attack can successfully steal the green list and remove the watermark across all settings.

  • 8 authors
·
May 30, 2024

Time-R1: Towards Comprehensive Temporal Reasoning in LLMs

Large Language Models (LLMs) demonstrate impressive capabilities but lack robust temporal intelligence, struggling to integrate reasoning about the past with predictions and plausible generations of the future. Meanwhile, existing methods typically target isolated temporal skills, such as question answering about past events or basic forecasting, and exhibit poor generalization, particularly when dealing with events beyond their knowledge cutoff or requiring creative foresight. To address these limitations, we introduce Time-R1, the first framework to endow a moderate-sized (3B-parameter) LLM with comprehensive temporal abilities: understanding, prediction, and creative generation. Our approach features a novel three-stage development path; the first two constitute a reinforcement learning (RL) curriculum driven by a meticulously designed dynamic rule-based reward system. This framework progressively builds (1) foundational temporal understanding and logical event-time mappings from historical data, (2) future event prediction skills for events beyond its knowledge cutoff, and finally (3) enables remarkable generalization to creative future scenario generation without any fine-tuning. Strikingly, experiments demonstrate that Time-R1 outperforms models over 200 times larger, including the state-of-the-art 671B DeepSeek-R1, on highly challenging future event prediction and creative scenario generation benchmarks. This work provides strong evidence that thoughtfully engineered, progressive RL fine-tuning allows smaller, efficient models to achieve superior temporal performance, offering a practical and scalable path towards truly time-aware AI. To foster further research, we also release Time-Bench, a large-scale multi-task temporal reasoning dataset derived from 10 years of news data, and our series of Time-R1 checkpoints.

  • 5 authors
·
May 16 3

ELMES: An Automated Framework for Evaluating Large Language Models in Educational Scenarios

The emergence of Large Language Models (LLMs) presents transformative opportunities for education, generating numerous novel application scenarios. However, significant challenges remain: evaluation metrics vary substantially across different educational scenarios, while many emerging scenarios lack appropriate assessment metrics. Current benchmarks predominantly measure general intelligence rather than pedagogical capabilities. To address this gap, we introduce ELMES, an open-source automated evaluation framework specifically designed for assessing LLMs in educational settings. ELMES features a modular architecture that enables researchers to create dynamic, multi-agent dialogues through simple configuration files, facilitating flexible scenario design without requiring extensive programming expertise. The framework incorporates a hybrid evaluation engine that objectively quantifies traditionally subjective pedagogical metrics using an LLM-as-a-Judge methodology. We conduct systematic benchmarking of state-of-the-art LLMs across four critical educational scenarios: Knowledge Point Explanation, Guided Problem-Solving Teaching, Interdisciplinary Lesson Plan Generation, and Contextualized Question Generation, employing fine-grained metrics developed in collaboration with education specialists. Our results demonstrate distinct capability distributions among models, revealing context-specific strengths and limitations. ELMES provides educators and researchers with an accessible evaluation framework that significantly reduces adaptation barriers for diverse educational applications while advancing the practical implementation of LLMs in pedagogy. The framework is publicly available at https://github.com/sii-research/elmes.git.

  • 12 authors
·
Jul 27

Establishing Knowledge Preference in Language Models

Language models are known to encode a great amount of factual knowledge through pretraining. However, such knowledge might be insufficient to cater to user requests, requiring the model to integrate external knowledge sources and adhere to user-provided specifications. When answering questions about ongoing events, the model should use recent news articles to update its response; when asked to provide recommendations, the model should prioritize user specifications over retrieved product reviews; when some facts are edited in the model, the updated facts should override all prior knowledge learned by the model even if they are conflicting. In all of the cases above, the model faces a decision between its own parametric knowledge, (retrieved) contextual knowledge, and user instruction knowledge. In this paper, we (1) unify such settings into the problem of knowledge preference and define a three-level preference hierarchy over these knowledge sources; (2) compile a collection of existing datasets IfQA, MQuAKE, and MRQA covering a combination of settings (with/without user specifications, with/without context documents) to systematically evaluate how well models obey the intended knowledge preference; and (3) propose a dataset synthesis method that composes diverse question-answer pairs with user assumptions and related context to directly fine-tune LMs for instilling the hierarchy of knowledge. We demonstrate that a 7B model, fine-tuned on only a few thousand examples automatically generated by our proposed method, effectively achieves superior performance (more than 18% improvement across all evaluation benchmarks) in adhering to the desired knowledge preference hierarchy.

  • 6 authors
·
Jul 17, 2024

Interpretation of Natural Language Rules in Conversational Machine Reading

Most work in machine reading focuses on question answering problems where the answer is directly expressed in the text to read. However, many real-world question answering problems require the reading of text not because it contains the literal answer, but because it contains a recipe to derive an answer together with the reader's background knowledge. One example is the task of interpreting regulations to answer "Can I...?" or "Do I have to...?" questions such as "I am working in Canada. Do I have to carry on paying UK National Insurance?" after reading a UK government website about this topic. This task requires both the interpretation of rules and the application of background knowledge. It is further complicated due to the fact that, in practice, most questions are underspecified, and a human assistant will regularly have to ask clarification questions such as "How long have you been working abroad?" when the answer cannot be directly derived from the question and text. In this paper, we formalise this task and develop a crowd-sourcing strategy to collect 32k task instances based on real-world rules and crowd-generated questions and scenarios. We analyse the challenges of this task and assess its difficulty by evaluating the performance of rule-based and machine-learning baselines. We observe promising results when no background knowledge is necessary, and substantial room for improvement whenever background knowledge is needed.

  • 8 authors
·
Aug 28, 2018

Measuring Large Language Models Capacity to Annotate Journalistic Sourcing

Since the launch of ChatGPT in late 2022, the capacities of Large Language Models and their evaluation have been in constant discussion and evaluation both in academic research and in the industry. Scenarios and benchmarks have been developed in several areas such as law, medicine and math (Bommasani et al., 2023) and there is continuous evaluation of model variants. One area that has not received sufficient scenario development attention is journalism, and in particular journalistic sourcing and ethics. Journalism is a crucial truth-determination function in democracy (Vincent, 2023), and sourcing is a crucial pillar to all original journalistic output. Evaluating the capacities of LLMs to annotate stories for the different signals of sourcing and how reporters justify them is a crucial scenario that warrants a benchmark approach. It offers potential to build automated systems to contrast more transparent and ethically rigorous forms of journalism with everyday fare. In this paper we lay out a scenario to evaluate LLM performance on identifying and annotating sourcing in news stories on a five-category schema inspired from journalism studies (Gans, 2004). We offer the use case, our dataset and metrics and as the first step towards systematic benchmarking. Our accuracy findings indicate LLM-based approaches have more catching to do in identifying all the sourced statements in a story, and equally, in matching the type of sources. An even harder task is spotting source justifications.

  • 5 authors
·
Dec 30, 2024

Harnessing Large Language Models for Knowledge Graph Question Answering via Adaptive Multi-Aspect Retrieval-Augmentation

Large Language Models (LLMs) demonstrate remarkable capabilities, yet struggle with hallucination and outdated knowledge when tasked with complex knowledge reasoning, resulting in factually incorrect outputs. Previous studies have attempted to mitigate it by retrieving factual knowledge from large-scale knowledge graphs (KGs) to assist LLMs in logical reasoning and prediction of answers. However, this kind of approach often introduces noise and irrelevant data, especially in situations with extensive context from multiple knowledge aspects. In this way, LLM attention can be potentially mislead from question and relevant information. In our study, we introduce an Adaptive Multi-Aspect Retrieval-augmented over KGs (Amar) framework. This method retrieves knowledge including entities, relations, and subgraphs, and converts each piece of retrieved text into prompt embeddings. The Amar framework comprises two key sub-components: 1) a self-alignment module that aligns commonalities among entities, relations, and subgraphs to enhance retrieved text, thereby reducing noise interference; 2) a relevance gating module that employs a soft gate to learn the relevance score between question and multi-aspect retrieved data, to determine which information should be used to enhance LLMs' output, or even filtered altogether. Our method has achieved state-of-the-art performance on two common datasets, WebQSP and CWQ, showing a 1.9\% improvement in accuracy over its best competitor and a 6.6\% improvement in logical form generation over a method that directly uses retrieved text as context prompts. These results demonstrate the effectiveness of Amar in improving the reasoning of LLMs.

  • 10 authors
·
Dec 24, 2024

Proceedings of the First International Workshop on Next-Generation Language Models for Knowledge Representation and Reasoning (NeLaMKRR 2024)

Reasoning is an essential component of human intelligence as it plays a fundamental role in our ability to think critically, support responsible decisions, and solve challenging problems. Traditionally, AI has addressed reasoning in the context of logic-based representations of knowledge. However, the recent leap forward in natural language processing, with the emergence of language models based on transformers, is hinting at the possibility that these models exhibit reasoning abilities, particularly as they grow in size and are trained on more data. Despite ongoing discussions about what reasoning is in language models, it is still not easy to pin down to what extent these models are actually capable of reasoning. The goal of this workshop is to create a platform for researchers from different disciplines and/or AI perspectives, to explore approaches and techniques with the aim to reconcile reasoning between language models using transformers and using logic-based representations. The specific objectives include analyzing the reasoning abilities of language models measured alongside KR methods, injecting KR-style reasoning abilities into language models (including by neuro-symbolic means), and formalizing the kind of reasoning language models carry out. This exploration aims to uncover how language models can effectively integrate and leverage knowledge and reasoning with it, thus improving their application and utility in areas where precision and reliability are a key requirement.

  • 5 authors
·
Oct 6, 2024

Modeling Open-World Cognition as On-Demand Synthesis of Probabilistic Models

When faced with novel situations, people are able to marshal relevant considerations from a wide range of background knowledge and put these to use in inferences and predictions. What permits us to draw in globally relevant information and reason over it coherently? Here, we explore the hypothesis that people use a combination of distributed and symbolic representations to construct bespoke mental models tailored to novel situations. We propose a computational implementation of this idea -- a ``Model Synthesis Architecture'' (MSA) -- using language models to implement global relevance-based retrieval and model synthesis and probabilistic programs to implement bespoke, coherent world models. We evaluate our MSA as a model of human judgments on a novel reasoning dataset. The dataset -- built around a `Model Olympics` domain of sports vignettes -- tests models' capacity for human-like, open-ended reasoning by requiring (i) judgments about novel causal structures described in language; (ii) drawing on large bodies of background knowledge; and (iii) doing both in light of observations that introduce arbitrary novel variables. Our MSA approach captures human judgments better than language model-only baselines, under both direct and chain-of-thought generations from the LM that supports model synthesis. These results suggest that MSAs can be implemented in a way that mirrors people's ability to deliver locally coherent reasoning over globally relevant variables, offering a path to understanding and replicating human reasoning in open-ended domains.

  • 11 authors
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Jul 16

Generative Adapter: Contextualizing Language Models in Parameters with A Single Forward Pass

Large language models (LMs) are typically adapted to improve performance on new contexts (\eg text prompts that define new tasks or domains) through fine-tuning or prompting. However, there is an accuracy compute tradeoff -- fine-tuning incurs significant training cost and prompting increases inference overhead. We introduce GenerativeAdapter, an effective and efficient adaptation method that directly maps new contexts to low-rank LM adapters, thereby significantly reducing inference overhead with no need for finetuning. The adapter generator is trained via self-supervised learning, and can be used to adapt a single frozen LM for any new task simply by mapping the associated task or domain context to a new adapter. We apply GenerativeAdapter to two pretrained LMs (Mistral-7B-Instruct and Llama2-7B-Chat) and evaluate the adapted models in three adaption scenarios: knowledge acquisition from documents, learning from demonstrations, and personalization for users. In StreamingQA, our approach is effective in injecting knowledge into the LM's parameters, achieving a 63.5% improvement in F1 score over the model with supervised fine-tuning (from 19.5 to 31.5) for contexts as long as 32K tokens. In the MetaICL in-context learning evaluation, our method achieves an average accuracy of 44.9 across 26 tasks, outperforming the base model. On MSC, our method proves to be highly competitive in memorizing user information from conversations with a 4x reduction in computation and memory costs compared to prompting with full conversation history. Together, these results suggest that GenerativeAdapter should allow for general adaption to a wide range of different contexts.

  • 8 authors
·
Nov 7, 2024

Joint Reasoning on Hybrid-knowledge sources for Task-Oriented Dialog

Traditional systems designed for task oriented dialog utilize knowledge present only in structured knowledge sources to generate responses. However, relevant information required to generate responses may also reside in unstructured sources, such as documents. Recent state of the art models such as HyKnow and SeKnow aimed at overcoming these challenges make limiting assumptions about the knowledge sources. For instance, these systems assume that certain types of information, such as a phone number, is always present in a structured knowledge base (KB) while information about aspects such as entrance ticket prices, would always be available in documents. In this paper, we create a modified version of the MutliWOZ-based dataset prepared by SeKnow to demonstrate how current methods have significant degradation in performance when strict assumptions about the source of information are removed. Then, in line with recent work exploiting pre-trained language models, we fine-tune a BART based model using prompts for the tasks of querying knowledge sources, as well as, for response generation, without making assumptions about the information present in each knowledge source. Through a series of experiments, we demonstrate that our model is robust to perturbations to knowledge modality (source of information), and that it can fuse information from structured as well as unstructured knowledge to generate responses.

  • 3 authors
·
Oct 13, 2022 2

Belief in the Machine: Investigating Epistemological Blind Spots of Language Models

As language models (LMs) become integral to fields like healthcare, law, and journalism, their ability to differentiate between fact, belief, and knowledge is essential for reliable decision-making. Failure to grasp these distinctions can lead to significant consequences in areas such as medical diagnosis, legal judgments, and dissemination of fake news. Despite this, current literature has largely focused on more complex issues such as theory of mind, overlooking more fundamental epistemic challenges. This study systematically evaluates the epistemic reasoning capabilities of modern LMs, including GPT-4, Claude-3, and Llama-3, using a new dataset, KaBLE, consisting of 13,000 questions across 13 tasks. Our results reveal key limitations. First, while LMs achieve 86% accuracy on factual scenarios, their performance drops significantly with false scenarios, particularly in belief-related tasks. Second, LMs struggle with recognizing and affirming personal beliefs, especially when those beliefs contradict factual data, which raises concerns for applications in healthcare and counseling, where engaging with a person's beliefs is critical. Third, we identify a salient bias in how LMs process first-person versus third-person beliefs, performing better on third-person tasks (80.7%) compared to first-person tasks (54.4%). Fourth, LMs lack a robust understanding of the factive nature of knowledge, namely, that knowledge inherently requires truth. Fifth, LMs rely on linguistic cues for fact-checking and sometimes bypass the deeper reasoning. These findings highlight significant concerns about current LMs' ability to reason about truth, belief, and knowledge while emphasizing the need for advancements in these areas before broad deployment in critical sectors.

  • 7 authors
·
Oct 28, 2024

RAG vs Fine-tuning: Pipelines, Tradeoffs, and a Case Study on Agriculture

There are two common ways in which developers are incorporating proprietary and domain-specific data when building applications of Large Language Models (LLMs): Retrieval-Augmented Generation (RAG) and Fine-Tuning. RAG augments the prompt with the external data, while fine-Tuning incorporates the additional knowledge into the model itself. However, the pros and cons of both approaches are not well understood. In this paper, we propose a pipeline for fine-tuning and RAG, and present the tradeoffs of both for multiple popular LLMs, including Llama2-13B, GPT-3.5, and GPT-4. Our pipeline consists of multiple stages, including extracting information from PDFs, generating questions and answers, using them for fine-tuning, and leveraging GPT-4 for evaluating the results. We propose metrics to assess the performance of different stages of the RAG and fine-Tuning pipeline. We conduct an in-depth study on an agricultural dataset. Agriculture as an industry has not seen much penetration of AI, and we study a potentially disruptive application - what if we could provide location-specific insights to a farmer? Our results show the effectiveness of our dataset generation pipeline in capturing geographic-specific knowledge, and the quantitative and qualitative benefits of RAG and fine-tuning. We see an accuracy increase of over 6 p.p. when fine-tuning the model and this is cumulative with RAG, which increases accuracy by 5 p.p. further. In one particular experiment, we also demonstrate that the fine-tuned model leverages information from across geographies to answer specific questions, increasing answer similarity from 47% to 72%. Overall, the results point to how systems built using LLMs can be adapted to respond and incorporate knowledge across a dimension that is critical for a specific industry, paving the way for further applications of LLMs in other industrial domains.

  • 22 authors
·
Jan 16, 2024 1

An Empirical Study of GPT-3 for Few-Shot Knowledge-Based VQA

Knowledge-based visual question answering (VQA) involves answering questions that require external knowledge not present in the image. Existing methods first retrieve knowledge from external resources, then reason over the selected knowledge, the input image, and question for answer prediction. However, this two-step approach could lead to mismatches that potentially limit the VQA performance. For example, the retrieved knowledge might be noisy and irrelevant to the question, and the re-embedded knowledge features during reasoning might deviate from their original meanings in the knowledge base (KB). To address this challenge, we propose PICa, a simple yet effective method that Prompts GPT3 via the use of Image Captions, for knowledge-based VQA. Inspired by GPT-3's power in knowledge retrieval and question answering, instead of using structured KBs as in previous work, we treat GPT-3 as an implicit and unstructured KB that can jointly acquire and process relevant knowledge. Specifically, we first convert the image into captions (or tags) that GPT-3 can understand, then adapt GPT-3 to solve the VQA task in a few-shot manner by just providing a few in-context VQA examples. We further boost performance by carefully investigating: (i) what text formats best describe the image content, and (ii) how in-context examples can be better selected and used. PICa unlocks the first use of GPT-3 for multimodal tasks. By using only 16 examples, PICa surpasses the supervised state of the art by an absolute +8.6 points on the OK-VQA dataset. We also benchmark PICa on VQAv2, where PICa also shows a decent few-shot performance.

  • 7 authors
·
Sep 10, 2021

Unifying Large Language Models and Knowledge Graphs: A Roadmap

Large language models (LLMs), such as ChatGPT and GPT4, are making new waves in the field of natural language processing and artificial intelligence, due to their emergent ability and generalizability. However, LLMs are black-box models, which often fall short of capturing and accessing factual knowledge. In contrast, Knowledge Graphs (KGs), Wikipedia and Huapu for example, are structured knowledge models that explicitly store rich factual knowledge. KGs can enhance LLMs by providing external knowledge for inference and interpretability. Meanwhile, KGs are difficult to construct and evolving by nature, which challenges the existing methods in KGs to generate new facts and represent unseen knowledge. Therefore, it is complementary to unify LLMs and KGs together and simultaneously leverage their advantages. In this article, we present a forward-looking roadmap for the unification of LLMs and KGs. Our roadmap consists of three general frameworks, namely, 1) KG-enhanced LLMs, which incorporate KGs during the pre-training and inference phases of LLMs, or for the purpose of enhancing understanding of the knowledge learned by LLMs; 2) LLM-augmented KGs, that leverage LLMs for different KG tasks such as embedding, completion, construction, graph-to-text generation, and question answering; and 3) Synergized LLMs + KGs, in which LLMs and KGs play equal roles and work in a mutually beneficial way to enhance both LLMs and KGs for bidirectional reasoning driven by both data and knowledge. We review and summarize existing efforts within these three frameworks in our roadmap and pinpoint their future research directions.

  • 6 authors
·
Jun 14, 2023

What-If Analysis of Large Language Models: Explore the Game World Using Proactive Thinking

Large language models (LLMs) excel at processing information reactively but lack the ability to systemically explore hypothetical futures. They cannot ask, "what if we take this action? how will it affect the final outcome" and forecast its potential consequences before acting. This critical gap limits their utility in dynamic, high-stakes scenarios like strategic planning, risk assessment, and real-time decision making. To bridge this gap, we propose WiA-LLM, a new paradigm that equips LLMs with proactive thinking capabilities. Our approach integrates What-If Analysis (WIA), a systematic approach for evaluating hypothetical scenarios by changing input variables. By leveraging environmental feedback via reinforcement learning, WiA-LLM moves beyond reactive thinking. It dynamically simulates the outcomes of each potential action, enabling the model to anticipate future states rather than merely react to the present conditions. We validate WiA-LLM in Honor of Kings (HoK), a complex multiplayer game environment characterized by rapid state changes and intricate interactions. The game's real-time state changes require precise multi-step consequence prediction, making it an ideal testbed for our approach. Experimental results demonstrate WiA-LLM achieves a remarkable 74.2% accuracy in forecasting game-state changes (up to two times gain over baselines). The model shows particularly significant gains in high-difficulty scenarios where accurate foresight is critical. To our knowledge, this is the first work to formally explore and integrate what-if analysis capabilities within LLMs. WiA-LLM represents a fundamental advance toward proactive reasoning in LLMs, providing a scalable framework for robust decision-making in dynamic environments with broad implications for strategic applications.

  • 8 authors
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Sep 5

Context Matters: Pushing the Boundaries of Open-Ended Answer Generation with Graph-Structured Knowledge Context

In the continuously advancing AI landscape, crafting context-rich and meaningful responses via Large Language Models (LLMs) is essential. Researchers are becoming more aware of the challenges that LLMs with fewer parameters encounter when trying to provide suitable answers to open-ended questions. To address these hurdles, the integration of cutting-edge strategies, augmentation of rich external domain knowledge to LLMs, offers significant improvements. This paper introduces a novel framework that combines graph-driven context retrieval in conjunction to knowledge graphs based enhancement, honing the proficiency of LLMs, especially in domain specific community question answering platforms like AskUbuntu, Unix, and ServerFault. We conduct experiments on various LLMs with different parameter sizes to evaluate their ability to ground knowledge and determine factual accuracy in answers to open-ended questions. Our methodology GraphContextGen consistently outperforms dominant text-based retrieval systems, demonstrating its robustness and adaptability to a larger number of use cases. This advancement highlights the importance of pairing context rich data retrieval with LLMs, offering a renewed approach to knowledge sourcing and generation in AI systems. We also show that, due to rich contextual data retrieval, the crucial entities, along with the generated answer, remain factually coherent with the gold answer.

  • 6 authors
·
Jan 23, 2024

Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to perform this task in a particular environment. We propose to provide real-world grounding by means of pretrained skills, which are used to constrain the model to propose natural language actions that are both feasible and contextually appropriate. The robot can act as the language model's "hands and eyes," while the language model supplies high-level semantic knowledge about the task. We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment. We evaluate our method on a number of real-world robotic tasks, where we show the need for real-world grounding and that this approach is capable of completing long-horizon, abstract, natural language instructions on a mobile manipulator. The project's website and the video can be found at https://say-can.github.io/.

  • 45 authors
·
Apr 4, 2022