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In real-world scenarios, it is desirable for embodied agents to have the ability to leverage human language to gain explicit or implicit knowledge for learning tasks. Despite recent progress, most previous approaches adopt simple low-level instructions as language inputs, which may not reflect natural human communication. We expect human language to be informative (i.e., providing feedback on agents&#39; past behaviors and offering guidance on achieving their future goals) and diverse (i.e., encompassing a wide range of expressions and style nuances). To enable flexibility of language use in teaching agents tasks, this paper studies different types of language inputs in facilitating reinforcement learning (RL) embodied agents. More specifically, we examine how different levels of language informativeness and diversity impact agent learning and inference. Our empirical results based on four RL benchmarks demonstrate that agents trained with diverse and informative language feedback can achieve enhanced generalization and fast adaptation to new tasks. These findings highlight the pivotal role of language use in teaching embodied agents new tasks in an open world.

EMNLP 2024

Teaching Embodied Reinforcement Learning Agents: Informativeness and Diversity of Language Use

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AAMAS is the leading scientific conference for research in autonomous agents and multi-agent systems. The AAMAS conference series was initiated in 2002 as the merging of three respected scientific meetings: the International Conference on Multi-Agent Systems (ICMAS), the International Workshop on Agent Theories, Architectures, and Languages (ATAL), and the International Conference on Autonomous Agents (AA). The aim of the joint conference is to provide a single, high-profile, internationally-respected archival forum for scientific research in the theory and practice of autonomous agents and multi-agent systems.

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AAMAS is the leading scientific conference for research in autonomous agents and multi-agent systems. The AAMAS conference series was initiated in 2002 as the merging of three respected scientific meetings: the International Conference on Multi-Agent Systems (ICMAS), the International Workshop on Agent Theories, Architectures, and Languages (ATAL), and the International Conference on Autonomous Agents (AA). 

In real-world scenarios, it is desirable for embodied agents to have the ability to leverage human language to gain explicit or implicit knowledge for learning tasks. Despite recent progress, most previous approaches adopt simple low-level instructions as language inputs, which may not reflect natural human communication. We expect human language to be informative (i.e., providing feedback on agents' past behaviors and offering guidance on achieving their future goals) and diverse (i.e., encompassing a wide range of expressions and style nuances). To enable flexibility of language use in teaching agents tasks, this paper studies different types of language inputs in facilitating reinforcement learning (RL) embodied agents. More specifically, we examine how different levels of language informativeness and diversity impact agent learning and inference. Our empirical results based on four RL benchmarks demonstrate that agents trained with diverse and informative language feedback can achieve enhanced generalization and fast adaptation to new tasks. These findings highlight the pivotal role of language use in teaching embodied agents new tasks in an open world.

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Reinforcement learning shows promise in optimizing dialogue policies, but addressing the challenge of reward sparsity remains crucial. While curriculum learning offers a practical solution by strategically training policies from simple to complex, it hinges on the assumption of a gradual increase in goal difficulty to ensure a smooth knowledge transition across varied complexities. In complex dialogue environments without intermediate goals, achieving seamless knowledge transitions becomes tricky. This paper proposes a novel Bootstrapped Policy Learning (BPL) framework, which adaptively tailors progressively challenging subgoal curriculum for each complex goal through goal shaping, ensuring a smooth knowledge transition. Goal shaping involves goal decomposition and evolution, decomposing complex goals into subgoals with solvable maximum difficulty and progressively increasing difficulty as the policy improves. Moreover, to enhance BPL's adaptability across various environments, we explore various combinations of goal decomposition and evolution within BPL, and identify two universal curriculum patterns that remain effective across different dialogue environments, independent of specific environmental constraints. By integrating the summarized curriculum patterns, our BPL has exhibited efficacy and versatility across four publicly available datasets with different difficulty levels.

Bootstrapped Policy Learning for Task-oriented Dialogue through Goal Shaping

Large language models (LLMs) possess extensive knowledge and commonsense reasoning capabilities, making them valuable for creating powerful agents. However, existing LLM agent frameworks have not fully utilized past experiences for improvement. This work introduces a new LLM-based agent framework called Retrospex, which addresses this challenge by analyzing past experiences in depth. Unlike previous approaches, Retrospex does not directly integrate experiences into the LLM’s context. Instead, it combines the LLM’s action likelihood with action values estimated by a Reinforcement Learning (RL) Critic, which is trained on past experiences through an offline “retrospection” process. Additionally, Retrospex employs a dynamic action rescoring mechanism that increases the importance of experience-based values for tasks that require more interaction with the environment. We evaluate Retrospex in ScienceWorld, ALFWorld and Webshop environments, demonstrating its advantages over strong baselines.

Retrospex: Language Agent Meets Offline Reinforcement Learning Critic

The increase in parameter size of multimodal large language models (MLLMs) introduces significant capabilities, particularly multimodal in-context learning, where MLLMs enhance task performance without updating pre-trained parameters. However, this effectiveness hinges on the appropriate selection of in-context examples, a process currently biased towards visual data, overlooking textual information. More importantly, the area of supervised retrievers for retrieval of multimodal in-context learning, crucial for optimal in-context example selection, continues to be investigated. Our study provides an in-depth evaluation of the impact of textual information on the unsupervised selection of in-context examples in multimodal contexts, uncovering a notable sensitivity of retriever performance to the employed modalities. Based on the above finding, we introduce a novel supervised MLLM prompt retriever MSIER that leverages a trained retriever based on MLLM's confidence to select examples, which enhances multimodal in-context learning efficiency. This approach is validated through extensive testing across three different tasks, demonstrating the method's effectiveness. Additionally, we investigate the influence of modalities on our supervised retrieval method's training and explore the transferability of the supervised prompt retriever. This exploration paves the way for future advancements, highlighting the potential for refined in-context learning in MLLMs through the strategic use of multimodal data. The public code is available at https://github.com/NUS-HPC-AI-Lab/Multimodal-ICL-Retriever.

How Does the Textual Information Affect the Retrieval of Multimodal In-Context Learning?

End-to-end Task-Oriented Dialog (TOD) systems typically require extensive training datasets to perform well. In contrast, large language model (LLM) based TOD systems can excel even with limited data due to their ability to learn tasks through in-context exemplars. However, these models lack alignment with the style of responses in training data and often generate comprehensive responses, making it difficult for users to grasp the information quickly. In response, we propose SyncTOD that synergizes LLMs with task-specific hints to improve alignment in low-data settings. SyncTOD employs small auxiliary models to provide hints and select exemplars for in-context prompts. With ChatGPT, SyncTOD achieves superior performance compared to LLM-based baselines and SoTA models in low-data settings, while retaining competitive performance in full-data settings.

Synergizing In-context Learning with Hints for End-to-end Task-oriented Dialog Systems

In recent years, multimodal large language models (MLLMs) have attracted widespread attention from both industry and academia. Based on the integration position, MLLMs can be categorized into external and internal fusion architectures, with the former being more predominant. However, there remains considerable debate on how to construct the optimal external fusion MLLM architecture, especially regarding the performance of different connectors on tasks with varying granularities. This paper systematically investigates the impact of connectors on MLLM performance. Specifically, we classify connectors into feature-preserving and feature-compressing types. Utilizing a unified classification standard, we categorize sub-tasks from three comprehensive benchmarks, MMBench, MME, and SEED-Bench, into three task types: coarse-grained perception, fine-grained perception, and reasoning, and evaluate the performance from this perspective. Our findings reveal significant performance differences between different types of connectors across various tasks, offering essential guidance for MLLM architecture design and advancing the understanding of MLLM architecture optimization.

From Coarse to Fine: Impacts of Feature-Preserving and Feature-Compressing Connectors on Perception in Multimodal Models

We present a novel approach to modeling fictional narratives. The proposed model creates embeddings that represent a story such that similar narratives, that is, reformulations of the same story, will result in similar embeddings. We showcase the prowess of our narrative-focused embeddings on various datasets, exhibiting state-of-the-art performance on multiple retrieval tasks. The embeddings also show promising results on a narrative understanding task. Additionally, we perform an annotation-based evaluation to validate that our introduced computational notion of narrative similarity aligns with human perception. The approach can help to explore vast datasets of stories, with potential applications in recommender systems and in the computational analysis of literature.

Story Embeddings — Narrative-Focused Representations of Fictional Stories

Large Vision-Language Model (LVLM) has enhanced the performance of various downstream tasks in visual-language understanding. Most existing approaches encode images and videos into separate feature spaces, which are then fed as inputs to large language models. However, due to the lack of unified tokenization for images and videos, namely misalignment before projection, it becomes challenging for a Large Language Model (LLM) to learn multi-modal interactions from several poor projection layers.

In this work, we unify visual representation into the language feature space to advance the foundational LLM towards a unified LVLM. As a result, we establish a simple but robust LVLM baseline, Video-LLaVA, which learns from a mixed dataset of images and videos, mutually enhancing each other.

As a result, Video-LLaVA outperforms Video-ChatGPT by 5.8%, 9.9%, 18.6%, and 10.1% on MSRVTT, MSVD, TGIF, and ActivityNet, respectively. Additionally, our Video-LLaVA also achieves superior performances on a broad range of 9 image benchmarks.

Notably, extensive experiments demonstrate that Video-LLaVA mutually benefits images and videos within a unified visual representation, outperforming models designed specifically for images or videos. We aim for this work to provide modest insights into the multi-modal inputs for the LLM.

Video-LLaVA: Learning United Visual Representation by Alignment Before Projection

Language models strongly rely on frequency information because they maximize the likelihood of tokens during pre-training. As a consequence, language models tend to not generalize well to tokens that are seldom seen during training. Moreover, maximum likelihood training has been discovered to give rise to anisotropy: representations of tokens in a model tend to cluster tightly in a high-dimensional cone, rather than spreading out over their representational capacity.

Our work introduces a method for quantifying the frequency bias of a language model by assessing sentence-level perplexity with respect to token-level frequency. We then present a method for reducing the frequency bias of a language model by inducing a syntactic prior over token representations during pre-training. Our Syntactic Smoothing method adjusts the maximum likelihood objective function to distribute the learning signal to syntactically similar tokens. This approach results in better performance on infrequent English tokens and a decrease in anisotropy. We empirically show that the degree of anisotropy in a model correlates with its frequency bias.

Mitigating Frequency Bias and Anisotropy in Language Model Pre-Training with Syntactic Smoothing

Ensuring the verifiability of model answers is a fundamental challenge for retrieval-augmented generation (RAG) in the question answering (QA) domain. Recently, self-citation prompting was proposed to make large language models (LLMs) generate citations to supporting documents along with their answers. However, self-citing LLMs often struggle to match the required format, refer to non-existent sources, and fail to faithfully reflect LLMs' context usage throughout the generation. In this work, we present MIRAGE -- Model Internals-based RAG Explanations -- a plug-and-play approach using model internals for faithful answer attribution in RAG applications. MIRAGE detects context-sensitive answer tokens and pairs them with retrieved documents contributing to their prediction via saliency methods. We evaluate our proposed approach on a multilingual extractive QA dataset, finding high agreement with human answer attribution. On open-ended QA, MIRAGE achieves citation quality and efficiency comparable to self-citation while also allowing for a finer-grained control of attribution parameters. Our qualitative evaluation highlights the faithfulness of MIRAGE's attributions and underscores the promising application of model internals for RAG answer attribution. Code and data released at https://github.com/Betswish/MIRAGE.

Model Internals-based Answer Attribution for Trustworthy Retrieval-Augmented Generation

Significant advancements have recently been made in large language models, represented by GPT models.
Users frequently have multi-round private conversations with cloud-hosted GPT models for task optimization.
Yet, this operational paradigm introduces additional attack surfaces, particularly in custom GPTs and hijacked chat sessions.
In this paper, we introduce a straightforward yet potent Conversation Reconstruction Attack.
This attack targets the contents of previous conversations between GPT models and benign users, i.e., the benign users' input contents during their interaction with GPT models.
The adversary could induce GPT models to leak such contents by querying them with designed malicious prompts.
Our comprehensive examination of privacy risks during the interactions with GPT models under this attack reveals GPT-4's considerable resilience.
We present two advanced attacks targeting improved reconstruction of past conversations, demonstrating significant privacy leakage across all models under these advanced techniques.
Evaluating various defense mechanisms, we find them ineffective against these attacks.
Our findings highlight the ease with which privacy can be compromised in interactions with GPT models, urging the community to safeguard against potential abuses of these models' capabilities.

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Bootstrapped Policy Learning for Task-oriented Dialogue through Goal Shaping

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