Daily Papers

We present a new problem: grounding natural language instructions to mobile user interface actions, and create three new datasets for it. For full task evaluation, we create PIXELHELP, a corpus that pairs English instructions with actions performed by people on a mobile UI emulator. To scale training, we decouple the language and action data by (a) annotating action phrase spans in HowTo instructions and (b) synthesizing grounded descriptions of actions for mobile user interfaces. We use a Transformer to extract action phrase tuples from long-range natural language instructions. A grounding Transformer then contextually represents UI objects using both their content and screen position and connects them to object descriptions. Given a starting screen and instruction, our model achieves 70.59% accuracy on predicting complete ground-truth action sequences in PIXELHELP.

Natural language programming is a promising approach to enable end users to instruct new tasks for intelligent agents. However, our formative study found that end users would often use unclear, ambiguous or vague concepts when naturally instructing tasks in natural language, especially when specifying conditionals. Existing systems have limited support for letting the user teach agents new concepts or explaining unclear concepts. In this paper, we describe a new multi-modal domain-independent approach that combines natural language programming and programming-by-demonstration to allow users to first naturally describe tasks and associated conditions at a high level, and then collaborate with the agent to recursively resolve any ambiguities or vagueness through conversations and demonstrations. Users can also define new procedures and concepts by demonstrating and referring to contents within GUIs of existing mobile apps. We demonstrate this approach in PUMICE, an end-user programmable agent that implements this approach. A lab study with 10 users showed its usability.

Large language models generate fluent texts and can follow natural language instructions to solve a wide range of tasks without task-specific training. Nevertheless, it is notoriously difficult to control their generation to satisfy the various constraints required by different applications. In this work, we present InstructCTG, a controlled text generation framework that incorporates different constraints by conditioning on natural language descriptions and demonstrations of the constraints. In particular, we first extract the underlying constraints of natural texts through a combination of off-the-shelf NLP tools and simple heuristics. We then verbalize the constraints into natural language instructions to form weakly supervised training data. By prepending natural language descriptions of the constraints and a few demonstrations, we fine-tune a pre-trained language model to incorporate various types of constraints. Compared to existing search-based or score-based methods, InstructCTG is more flexible to different constraint types and has a much smaller impact on the generation quality and speed because it does not modify the decoding procedure. Additionally, InstructCTG allows the model to adapt to new constraints without re-training through the use of few-shot task generalization and in-context learning abilities of instruction-tuned language models.

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and motion-level plan that is verified to reach inferred symbolic goals. Text2Motion uses feasibility heuristics encoded in Q-functions of a library of skills to guide task planning with Large Language Models. Whereas previous language-based planners only consider the feasibility of individual skills, Text2Motion actively resolves geometric dependencies spanning skill sequences by performing geometric feasibility planning during its search. We evaluate our method on a suite of problems that require long-horizon reasoning, interpretation of abstract goals, and handling of partial affordance perception. Our experiments show that Text2Motion can solve these challenging problems with a success rate of 82%, while prior state-of-the-art language-based planning methods only achieve 13%. Text2Motion thus provides promising generalization characteristics to semantically diverse sequential manipulation tasks with geometric dependencies between skills.

Large language models (LLMs) enable system builders today to create competent NLP systems through prompting, where they only need to describe the task in natural language and provide a few examples. However, in other ways, LLMs are a step backward from traditional special-purpose NLP models; they require extensive computational resources for deployment and can be gated behind APIs. In this paper, we propose Prompt2Model, a general-purpose method that takes a natural language task description like the prompts provided to LLMs, and uses it to train a special-purpose model that is conducive to deployment. This is done through a multi-step process of retrieval of existing datasets and pretrained models, dataset generation using LLMs, and supervised fine-tuning on these retrieved and generated datasets. Over three tasks, we demonstrate that given the same few-shot prompt as input, Prompt2Model trains models that outperform the results of a strong LLM, gpt-3.5-turbo, by an average of 20% while being up to 700 times smaller. We also show that this data can be used to obtain reliable performance estimates of model performance, enabling model developers to assess model reliability before deployment. Prompt2Model is available open-source at https://github.com/neulab/prompt2model.

Modern visual effects (VFX) software has made it possible for skilled artists to create imagery of virtually anything. However, the creation process remains laborious, complex, and largely inaccessible to everyday users. In this work, we present AutoVFX, a framework that automatically creates realistic and dynamic VFX videos from a single video and natural language instructions. By carefully integrating neural scene modeling, LLM-based code generation, and physical simulation, AutoVFX is able to provide physically-grounded, photorealistic editing effects that can be controlled directly using natural language instructions. We conduct extensive experiments to validate AutoVFX's efficacy across a diverse spectrum of videos and instructions. Quantitative and qualitative results suggest that AutoVFX outperforms all competing methods by a large margin in generative quality, instruction alignment, editing versatility, and physical plausibility.

Recent years have seen an increasing amount of work on embodied AI agents that can perform tasks by following human language instructions. However, most of these agents are reactive, meaning that they simply learn and imitate behaviors encountered in the training data. These reactive agents are insufficient for long-horizon complex tasks. To address this limitation, we propose a neuro-symbolic deliberative agent that, while following language instructions, proactively applies reasoning and planning based on its neural and symbolic representations acquired from past experience (e.g., natural language and egocentric vision). We show that our deliberative agent achieves greater than 70% improvement over reactive baselines on the challenging TEACh benchmark. Moreover, the underlying reasoning and planning processes, together with our modular framework, offer impressive transparency and explainability to the behaviors of the agent. This enables an in-depth understanding of the agent's capabilities, which shed light on challenges and opportunities for future embodied agents for instruction following. The code is available at https://github.com/sled-group/DANLI.

Recent reinforcement learning (RL) approaches have shown strong performance in complex domains such as Atari games, but are often highly sample inefficient. A common approach to reduce interaction time with the environment is to use reward shaping, which involves carefully designing reward functions that provide the agent intermediate rewards for progress towards the goal. However, designing appropriate shaping rewards is known to be difficult as well as time-consuming. In this work, we address this problem by using natural language instructions to perform reward shaping. We propose the LanguagE-Action Reward Network (LEARN), a framework that maps free-form natural language instructions to intermediate rewards based on actions taken by the agent. These intermediate language-based rewards can seamlessly be integrated into any standard reinforcement learning algorithm. We experiment with Montezuma's Revenge from the Atari Learning Environment, a popular benchmark in RL. Our experiments on a diverse set of 15 tasks demonstrate that, for the same number of interactions with the environment, language-based rewards lead to successful completion of the task 60% more often on average, compared to learning without language.

Abstraction is a core tenet of human cognition and communication. When composing natural language instructions, humans naturally evoke abstraction to convey complex procedures in an efficient and concise way. Yet, interpreting and grounding abstraction expressed in NL has not yet been systematically studied in NLP, with no accepted benchmarks specifically eliciting abstraction in NL. In this work, we set the foundation for a systematic study of processing and grounding abstraction in NLP. First, we deliver a novel abstraction elicitation method and present Hexagons, a 2D instruction-following game. Using Hexagons we collected over 4k naturally-occurring visually-grounded instructions rich with diverse types of abstractions. From these data, we derive an instruction-to-execution task and assess different types of neural models. Our results show that contemporary models and modeling practices are substantially inferior to human performance, and that models' performance is inversely correlated with the level of abstraction, showing less satisfying performance on higher levels of abstraction. These findings are consistent across models and setups, confirming that abstraction is a challenging phenomenon deserving further attention and study in NLP/AI research.

Tabular data, as a crucial form of data representation, exists in diverse formats on the Web. When confronted with complex and irregular tables, manual modification becomes a laborious task. This paper investigates the performance of Large Language Models (LLMs) in the context of table editing tasks. Existing research mainly focuses on regular-shaped tables, wherein instructions are used to generate code in SQL, Python, or Excel Office-script for manipulating the tables. Nevertheless, editing tables with irregular structures, particularly those containing merged cells spanning multiple rows, poses a challenge when using code. To address this, we introduce the WikiTableEdit dataset. Leveraging 26,531 tables from the WikiSQL dataset, we automatically generate natural language instructions for six distinct basic operations and the corresponding outcomes, resulting in over 200,000 instances. Subsequently, we evaluate several representative large language models on the WikiTableEdit dataset to demonstrate the challenge of this task. The dataset will be released to the community to promote related researches.

In modern speech synthesis, paralinguistic information--such as a speaker's vocal timbre, emotional state, and dynamic prosody--plays a critical role in conveying nuance beyond mere semantics. Traditional Text-to-Speech (TTS) systems rely on fixed style labels or inserting a speech prompt to control these cues, which severely limits flexibility. Recent attempts seek to employ natural-language instructions to modulate paralinguistic features, substantially improving the generalization of instruction-driven TTS models. Although many TTS systems now support customized synthesis via textual description, their actual ability to interpret and execute complex instructions remains largely unexplored. In addition, there is still a shortage of high-quality benchmarks and automated evaluation metrics specifically designed for instruction-based TTS, which hinders accurate assessment and iterative optimization of these models. To address these limitations, we introduce InstructTTSEval, a benchmark for measuring the capability of complex natural-language style control. We introduce three tasks, namely Acoustic-Parameter Specification, Descriptive-Style Directive, and Role-Play, including English and Chinese subsets, each with 1k test cases (6k in total) paired with reference audio. We leverage Gemini as an automatic judge to assess their instruction-following abilities. Our evaluation of accessible instruction-following TTS systems highlights substantial room for further improvement. We anticipate that InstructTTSEval will drive progress toward more powerful, flexible, and accurate instruction-following TTS.

A significant amount of research is focused on developing and evaluating large language models for a variety of code synthesis tasks. These include synthesizing code from natural language instructions, synthesizing tests from code, and synthesizing explanations of code. In contrast, the behavior of instructional code editing with LLMs is understudied. These are tasks in which the model is instructed to update a block of code provided in a prompt. The editing instruction may ask for a feature to added or removed, describe a bug and ask for a fix, ask for a different kind of solution, or many other common code editing tasks. We introduce a carefully crafted benchmark of code editing tasks and use it evaluate several cutting edge LLMs. Our evaluation exposes a significant gap between the capabilities of state-of-the-art open and closed models. For example, even GPT-3.5-Turbo is 8.8% better than the best open model at editing code. We also introduce a new, carefully curated, permissively licensed training set of code edits coupled with natural language instructions. Using this training set, we show that we can fine-tune open Code LLMs to significantly improve their code editing capabilities.

Supervised machine learning provides the learner with a set of input-output examples of the target task. Humans, however, can also learn to perform new tasks from instructions in natural language. Can machines learn to understand instructions as well? We present the Turking Test, which examines a model's ability to follow natural language instructions of varying complexity. These range from simple tasks, like retrieving the nth word of a sentence, to ones that require creativity, such as generating examples for SNLI and SQuAD in place of human intelligence workers ("turkers"). Despite our lenient evaluation methodology, we observe that a large pretrained language model performs poorly across all tasks. Analyzing the model's error patterns reveals that the model tends to ignore explicit instructions and often generates outputs that cannot be construed as an attempt to solve the task. While it is not yet clear whether instruction understanding can be captured by traditional language models, the sheer expressivity of instruction understanding makes it an appealing alternative to the rising few-shot inference paradigm.

This paper presents a versatile image-to-image visual assistant, PixWizard, designed for image generation, manipulation, and translation based on free-from language instructions. To this end, we tackle a variety of vision tasks into a unified image-text-to-image generation framework and curate an Omni Pixel-to-Pixel Instruction-Tuning Dataset. By constructing detailed instruction templates in natural language, we comprehensively include a large set of diverse vision tasks such as text-to-image generation, image restoration, image grounding, dense image prediction, image editing, controllable generation, inpainting/outpainting, and more. Furthermore, we adopt Diffusion Transformers (DiT) as our foundation model and extend its capabilities with a flexible any resolution mechanism, enabling the model to dynamically process images based on the aspect ratio of the input, closely aligning with human perceptual processes. The model also incorporates structure-aware and semantic-aware guidance to facilitate effective fusion of information from the input image. Our experiments demonstrate that PixWizard not only shows impressive generative and understanding abilities for images with diverse resolutions but also exhibits promising generalization capabilities with unseen tasks and human instructions. The code and related resources are available at https://github.com/AFeng-x/PixWizard

With the evolution of Large Language Models (LLMs) we can solve increasingly more complex NLP tasks across various domains, including spreadsheets. This work investigates whether LLMs can generate code (Excel OfficeScripts, a TypeScript API for executing many tasks in Excel) that solves Excel specific tasks provided via natural language user instructions. To do so we introduce a new large-scale benchmark, InstructExcel, created by leveraging the 'Automate' feature in Excel to automatically generate OfficeScripts from users' actions. Our benchmark includes over 10k samples covering 170+ Excel operations across 2,000 publicly available Excel spreadsheets. Experiments across various zero-shot and few-shot settings show that InstructExcel is a hard benchmark for state of the art models like GPT-4. We observe that (1) using GPT-4 over GPT-3.5, (2) providing more in-context examples, and (3) dynamic prompting can help improve performance on this benchmark.

Large Language Models (LLMs) have showcased remarkable capabilities in following human instructions. However, recent studies have raised concerns about the robustness of LLMs when prompted with instructions combining textual adversarial samples. In this paper, drawing inspiration from recent works that LLMs are sensitive to the design of the instructions, we utilize instructions in code style, which are more structural and less ambiguous, to replace typically natural language instructions. Through this conversion, we provide LLMs with more precise instructions and strengthen the robustness of LLMs. Moreover, under few-shot scenarios, we propose a novel method to compose in-context demonstrations using both clean and adversarial samples (adversarial context method) to further boost the robustness of the LLMs. Experiments on eight robustness datasets show that our method consistently outperforms prompting LLMs with natural language instructions. For example, with gpt-3.5-turbo, our method achieves an improvement of 5.68\% in test set accuracy and a reduction of 5.66 points in Attack Success Rate (ASR).

Humans generally use natural language to communicate task requirements to each other. Ideally, natural language should also be usable for communicating goals to autonomous machines (e.g., robots) to minimize friction in task specification. However, understanding and mapping natural language goals to sequences of states and actions is challenging. Specifically, existing work along these lines has encountered difficulty in generalizing learned policies to new natural language goals and environments. In this paper, we propose a novel adversarial inverse reinforcement learning algorithm to learn a language-conditioned policy and reward function. To improve generalization of the learned policy and reward function, we use a variational goal generator to relabel trajectories and sample diverse goals during training. Our algorithm outperforms multiple baselines by a large margin on a vision-based natural language instruction following dataset (Room-2-Room), demonstrating a promising advance in enabling the use of natural language instructions in specifying agent goals.

In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that synergistically exploits the capabilities of large language models (LLMs) and multimodal vision-language models (VLMs) to enable humans to interact naturally with autonomous robots through conversational dialogue. We leveraged the LLMs to decode the high-level natural language instructions from humans and abstract them into precise robot actionable commands or queries. Further, we utilised the VLMs to provide a visual and semantic understanding of the robot's task environment. Our results with 99.13% command recognition accuracy and 97.96% commands execution success show that our approach can enhance human-robot interaction in real-world applications. The video demonstrations of this paper can be found at https://osf.io/wzyf6 and the code is available at our GitHub repository (https://github.com/LinusNEP/TCC_IRoNL.git).

Offline meta-RL usually tackles generalization by inferring task beliefs from high-quality samples or warmup explorations. The restricted form limits their generality and usability since these supervision signals are expensive and even infeasible to acquire in advance for unseen tasks. Learning directly from the raw text about decision tasks is a promising alternative to leverage a much broader source of supervision. In the paper, we propose Text-to-Decision Agent (T2DA), a simple and scalable framework that supervises offline meta-RL with natural language. We first introduce a generalized world model to encode multi-task decision data into a dynamics-aware embedding space. Then, inspired by CLIP, we predict which textual description goes with which decision embedding, effectively bridging their semantic gap via contrastive language-decision pre-training and aligning the text embeddings to comprehend the environment dynamics. After training the text-conditioned generalist policy, the agent can directly realize zero-shot text-to-decision generation in response to language instructions. Comprehensive experiments on MuJoCo and Meta-World benchmarks show that T2DA facilitates high-capacity zero-shot generalization and outperforms various types of baselines. Our code is available at https://github.com/NJU-RL/T2DA.

Following natural language instructions by executing actions in digital environments (e.g. web-browsers and REST APIs) is a challenging task for language model (LM) agents. Unfortunately, LM agents often fail to generalize to new environments without human demonstrations. This work presents BAGEL, a method for bootstrapping LM agents without human supervision. BAGEL converts a seed set of randomly explored trajectories or synthetic instructions, into demonstrations, via round-trips between two noisy LM components: an LM labeler which converts a trajectory into a synthetic instruction, and a zero-shot LM agent which maps the synthetic instruction into a refined trajectory. By performing these round-trips iteratively, BAGEL quickly converts the initial distribution of trajectories towards those that are well-described by natural language. We use BAGEL demonstrations to adapt a zero shot LM agent at test time via in-context learning over retrieved demonstrations, and find improvements of over 2-13% absolute on ToolQA and MiniWob++, with up to 13x reduction in execution failures.

Grounding natural language instructions on the web to perform previously unseen tasks enables accessibility and automation. We introduce a task and dataset to train AI agents from open-domain, step-by-step instructions originally written for people. We build RUSS (Rapid Universal Support Service) to tackle this problem. RUSS consists of two models: First, a BERT-LSTM with pointers parses instructions to ThingTalk, a domain-specific language we design for grounding natural language on the web. Then, a grounding model retrieves the unique IDs of any webpage elements requested in ThingTalk. RUSS may interact with the user through a dialogue (e.g. ask for an address) or execute a web operation (e.g. click a button) inside the web runtime. To augment training, we synthesize natural language instructions mapped to ThingTalk. Our dataset consists of 80 different customer service problems from help websites, with a total of 741 step-by-step instructions and their corresponding actions. RUSS achieves 76.7% end-to-end accuracy predicting agent actions from single instructions. It outperforms state-of-the-art models that directly map instructions to actions without ThingTalk. Our user study shows that RUSS is preferred by actual users over web navigation.

We introduce a new task -- language-driven video inpainting, which uses natural language instructions to guide the inpainting process. This approach overcomes the limitations of traditional video inpainting methods that depend on manually labeled binary masks, a process often tedious and labor-intensive. We present the Remove Objects from Videos by Instructions (ROVI) dataset, containing 5,650 videos and 9,091 inpainting results, to support training and evaluation for this task. We also propose a novel diffusion-based language-driven video inpainting framework, the first end-to-end baseline for this task, integrating Multimodal Large Language Models to understand and execute complex language-based inpainting requests effectively. Our comprehensive results showcase the dataset's versatility and the model's effectiveness in various language-instructed inpainting scenarios. We will make datasets, code, and models publicly available.

By conditioning on natural language instructions, large language models (LLMs) have displayed impressive capabilities as general-purpose computers. However, task performance depends significantly on the quality of the prompt used to steer the model, and most effective prompts have been handcrafted by humans. Inspired by classical program synthesis and the human approach to prompt engineering, we propose Automatic Prompt Engineer (APE) for automatic instruction generation and selection. In our method, we treat the instruction as the "program," optimized by searching over a pool of instruction candidates proposed by an LLM in order to maximize a chosen score function. To evaluate the quality of the selected instruction, we evaluate the zero-shot performance of another LLM following the selected instruction. Experiments on 24 NLP tasks show that our automatically generated instructions outperform the prior LLM baseline by a large margin and achieve better or comparable performance to the instructions generated by human annotators on 19/24 tasks. We conduct extensive qualitative and quantitative analyses to explore the performance of APE. We show that APE-engineered prompts can be applied to steer models toward truthfulness and/or informativeness, as well as to improve few-shot learning performance by simply prepending them to standard in-context learning prompts. Please check out our webpage at https://sites.google.com/view/automatic-prompt-engineer.

Prompt engineering has emerged as an indispensable technique for extending the capabilities of large language models (LLMs) and vision-language models (VLMs). This approach leverages task-specific instructions, known as prompts, to enhance model efficacy without modifying the core model parameters. Rather than updating the model parameters, prompts allow seamless integration of pre-trained models into downstream tasks by eliciting desired model behaviors solely based on the given prompt. Prompts can be natural language instructions that provide context to guide the model or learned vector representations that activate relevant knowledge. This burgeoning field has enabled success across various applications, from question-answering to commonsense reasoning. However, there remains a lack of systematic organization and understanding of the diverse prompt engineering methods and techniques. This survey paper addresses the gap by providing a structured overview of recent advancements in prompt engineering, categorized by application area. For each prompting approach, we provide a summary detailing the prompting methodology, its applications, the models involved, and the datasets utilized. We also delve into the strengths and limitations of each approach and include a taxonomy diagram and table summarizing datasets, models, and critical points of each prompting technique. This systematic analysis enables a better understanding of this rapidly developing field and facilitates future research by illuminating open challenges and opportunities for prompt engineering.

Prompting with natural language instructions has recently emerged as a popular method of harnessing the capabilities of large language models. Given the inherent ambiguity present in natural language, it is intuitive to consider the possible advantages of prompting with less ambiguous prompt styles, such as the use of pseudo-code. In this paper we explore if prompting via pseudo-code instructions helps improve the performance of pre-trained language models. We manually create a dataset of pseudo-code prompts for 132 different tasks spanning classification, QA and generative language tasks, sourced from the Super-NaturalInstructions dataset. Using these prompts along with their counterparts in natural language, we study their performance on two LLM families - BLOOM and CodeGen. Our experiments show that using pseudo-code instructions leads to better results, with an average increase (absolute) of 7-16 points in F1 scores for classification tasks and an improvement (relative) of 12-38% in aggregate ROUGE-L scores across all tasks. We include detailed ablation studies which indicate that code comments, docstrings, and the structural clues encoded in pseudo-code all contribute towards the improvement in performance. To the best of our knowledge our work is the first to demonstrate how pseudo-code prompts can be helpful in improving the performance of pre-trained LMs.

Large language models (LLMs) have shown remarkable performance on many different Natural Language Processing (NLP) tasks. Prompt engineering plays a key role in adding more to the already existing abilities of LLMs to achieve significant performance gains on various NLP tasks. Prompt engineering requires composing natural language instructions called prompts to elicit knowledge from LLMs in a structured way. Unlike previous state-of-the-art (SoTA) models, prompt engineering does not require extensive parameter re-training or fine-tuning based on the given NLP task and thus solely operates on the embedded knowledge of LLMs. Additionally, LLM enthusiasts can intelligently extract LLMs' knowledge through a basic natural language conversational exchange or prompt engineering, allowing more and more people even without deep mathematical machine learning background to experiment with LLMs. With prompt engineering gaining popularity in the last two years, researchers have come up with numerous engineering techniques around designing prompts to improve accuracy of information extraction from the LLMs. In this paper, we summarize different prompting techniques and club them together based on different NLP tasks that they have been used for. We further granularly highlight the performance of these prompting strategies on various datasets belonging to that NLP task, talk about the corresponding LLMs used, present a taxonomy diagram and discuss the possible SoTA for specific datasets. In total, we read and present a survey of 44 research papers which talk about 39 different prompting methods on 29 different NLP tasks of which most of them have been published in the last two years.

Large language models (LLMs) have shown impressive performance in following natural language instructions to solve unseen tasks. However, it remains unclear whether models truly understand task definitions and whether the human-written definitions are optimal. In this paper, we systematically study the role of task definitions in instruction learning. We first conduct an ablation analysis informed by human annotations to understand which parts of a task definition are most important, and find that model performance only drops substantially when removing contents describing the task output, in particular label information. Next, we propose an automatic algorithm to compress task definitions to a minimal supporting set of tokens, and find that 60\% of tokens can be removed while maintaining or even improving model performance. Based on these results, we propose two strategies to help models better leverage task instructions: (1) providing only key information for tasks in a common structured format, and (2) adding a meta-tuning stage to help the model better understand the definitions. With these two strategies, we achieve a 4.2 Rouge-L improvement over 119 unseen test tasks.

With the capabilities of understanding and executing natural language instructions, Large language models (LLMs) can potentially act as a powerful tool for textual data augmentation. However, the quality of augmented data depends heavily on the augmentation instructions provided, and the effectiveness can fluctuate across different downstream tasks. While manually crafting and selecting instructions can offer some improvement, this approach faces scalability and consistency issues in practice due to the diversity of downstream tasks. In this work, we address these limitations by proposing a new solution, which can automatically generate a large pool of augmentation instructions and select the most suitable task-informed instructions, thereby empowering LLMs to create high-quality augmented data for different downstream tasks. Empirically, the proposed approach consistently generates augmented data with better quality compared to non-LLM and LLM-based data augmentation methods, leading to the best performance on 26 few-shot learning tasks sourced from a wide range of application domains.

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension capabilities to formulate precise and efficient action plans based on natural language instructions. However, for embodied tasks, where robots interact with complex environments, text-only LLMs often face challenges due to a lack of compatibility with robotic visual perception. This study provides a comprehensive overview of the emerging integration of LLMs and multimodal LLMs into various robotic tasks. Additionally, we propose a framework that utilizes multimodal GPT-4V to enhance embodied task planning through the combination of natural language instructions and robot visual perceptions. Our results, based on diverse datasets, indicate that GPT-4V effectively enhances robot performance in embodied tasks. This extensive survey and evaluation of LLMs and multimodal LLMs across a variety of robotic tasks enriches the understanding of LLM-centric embodied intelligence and provides forward-looking insights toward bridging the gap in Human-Robot-Environment interaction.

Recent advances in language model (LM) agents and function calling have enabled autonomous, feedback-driven systems to solve problems across various digital domains. To better understand the unique limitations of LM agents, we introduce RefactorBench, a benchmark consisting of 100 large handcrafted multi-file refactoring tasks in popular open-source repositories. Solving tasks within RefactorBench requires thorough exploration of dependencies across multiple files and strong adherence to relevant instructions. Every task is defined by 3 natural language instructions of varying specificity and is mutually exclusive, allowing for the creation of longer combined tasks on the same repository. Baselines on RefactorBench reveal that current LM agents struggle with simple compositional tasks, solving only 22% of tasks with base instructions, in contrast to a human developer with short time constraints solving 87%. Through trajectory analysis, we identify various unique failure modes of LM agents, and further explore the failure mode of tracking past actions. By adapting a baseline agent to condition on representations of state, we achieve a 43.9% improvement in solving RefactorBench tasks. We further extend our state-aware approach to encompass entire digital environments and outline potential directions for future research. RefactorBench aims to support the study of LM agents by providing a set of real-world, multi-hop tasks within the realm of code.

The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple pick-and-place to tasks requiring intent recognition and visual reasoning. Inspired by the dual process theory in cognitive science, which suggests two parallel systems of fast and slow thinking in human decision-making, we introduce Robotics with Fast and Slow Thinking (RFST), a framework that mimics human cognitive architecture to classify tasks and makes decisions on two systems based on instruction types. Our RFST consists of two key components: 1) an instruction discriminator to determine which system should be activated based on the current user instruction, and 2) a slow-thinking system that is comprised of a fine-tuned vision language model aligned with the policy networks, which allows the robot to recognize user intention or perform reasoning tasks. To assess our methodology, we built a dataset featuring real-world trajectories, capturing actions ranging from spontaneous impulses to tasks requiring deliberate contemplation. Our results, both in simulation and real-world scenarios, confirm that our approach adeptly manages intricate tasks that demand intent recognition and reasoning. The project is available at https://jlm-z.github.io/RSFT/

Large language models (LLMs) have demonstrated remarkable performance by following natural language instructions without fine-tuning them on domain-specific tasks and data. However, leveraging LLMs for domain-specific question answering suffers from severe limitations. The generated answer tends to hallucinate due to the training data collection time (when using off-the-shelf), complex user utterance and wrong retrieval (in retrieval-augmented generation). Furthermore, due to the lack of awareness about the domain and expected output, such LLMs may generate unexpected and unsafe answers that are not tailored to the target domain. In this paper, we propose CarExpert, an in-car retrieval-augmented conversational question-answering system leveraging LLMs for different tasks. Specifically, CarExpert employs LLMs to control the input, provide domain-specific documents to the extractive and generative answering components, and controls the output to ensure safe and domain-specific answers. A comprehensive empirical evaluation exhibits that CarExpert outperforms state-of-the-art LLMs in generating natural, safe and car-specific answers.

Recent works have shown that Large Language Models (LLMs) can be applied to ground natural language to a wide variety of robot skills. However, in practice, learning multi-task, language-conditioned robotic skills typically requires large-scale data collection and frequent human intervention to reset the environment or help correcting the current policies. In this work, we propose a novel approach to efficiently learn general-purpose language-conditioned robot skills from unstructured, offline and reset-free data in the real world by exploiting a self-supervised visuo-lingual affordance model, which requires annotating as little as 1% of the total data with language. We evaluate our method in extensive experiments both in simulated and real-world robotic tasks, achieving state-of-the-art performance on the challenging CALVIN benchmark and learning over 25 distinct visuomotor manipulation tasks with a single policy in the real world. We find that when paired with LLMs to break down abstract natural language instructions into subgoals via few-shot prompting, our method is capable of completing long-horizon, multi-tier tasks in the real world, while requiring an order of magnitude less data than previous approaches. Code and videos are available at http://hulc2.cs.uni-freiburg.de

Interaction and navigation defined by natural language instructions in dynamic environments pose significant challenges for neural agents. This paper focuses on addressing two challenges: handling long sequence of subtasks, and understanding complex human instructions. We propose Episodic Transformer (E.T.), a multimodal transformer that encodes language inputs and the full episode history of visual observations and actions. To improve training, we leverage synthetic instructions as an intermediate representation that decouples understanding the visual appearance of an environment from the variations of natural language instructions. We demonstrate that encoding the history with a transformer is critical to solve compositional tasks, and that pretraining and joint training with synthetic instructions further improve the performance. Our approach sets a new state of the art on the challenging ALFRED benchmark, achieving 38.4% and 8.5% task success rates on seen and unseen test splits.

Our goal is for robots to follow natural language instructions like "put the towel next to the microwave." But getting large amounts of labeled data, i.e. data that contains demonstrations of tasks labeled with the language instruction, is prohibitive. In contrast, obtaining policies that respond to image goals is much easier, because any autonomous trial or demonstration can be labeled in hindsight with its final state as the goal. In this work, we contribute a method that taps into joint image- and goal- conditioned policies with language using only a small amount of language data. Prior work has made progress on this using vision-language models or by jointly training language-goal-conditioned policies, but so far neither method has scaled effectively to real-world robot tasks without significant human annotation. Our method achieves robust performance in the real world by learning an embedding from the labeled data that aligns language not to the goal image, but rather to the desired change between the start and goal images that the instruction corresponds to. We then train a policy on this embedding: the policy benefits from all the unlabeled data, but the aligned embedding provides an interface for language to steer the policy. We show instruction following across a variety of manipulation tasks in different scenes, with generalization to language instructions outside of the labeled data. Videos and code for our approach can be found on our website: http://tiny.cc/grif .

Prompt engineering is a technique that involves augmenting a large pre-trained model with task-specific hints, known as prompts, to adapt the model to new tasks. Prompts can be created manually as natural language instructions or generated automatically as either natural language instructions or vector representations. Prompt engineering enables the ability to perform predictions based solely on prompts without updating model parameters, and the easier application of large pre-trained models in real-world tasks. In past years, Prompt engineering has been well-studied in natural language processing. Recently, it has also been intensively studied in vision-language modeling. However, there is currently a lack of a systematic overview of prompt engineering on pre-trained vision-language models. This paper aims to provide a comprehensive survey of cutting-edge research in prompt engineering on three types of vision-language models: multimodal-to-text generation models (e.g. Flamingo), image-text matching models (e.g. CLIP), and text-to-image generation models (e.g. Stable Diffusion). For each type of model, a brief model summary, prompting methods, prompting-based applications, and the corresponding responsibility and integrity issues are summarized and discussed. Furthermore, the commonalities and differences between prompting on vision-language models, language models, and vision models are also discussed. The challenges, future directions, and research opportunities are summarized to foster future research on this topic.

A core challenge in AI-guided autonomy is enabling agents to navigate realistically and effectively in previously unseen environments based on natural language commands. We propose UAV-VLN, a novel end-to-end Vision-Language Navigation (VLN) framework for Unmanned Aerial Vehicles (UAVs) that seamlessly integrates Large Language Models (LLMs) with visual perception to facilitate human-interactive navigation. Our system interprets free-form natural language instructions, grounds them into visual observations, and plans feasible aerial trajectories in diverse environments. UAV-VLN leverages the common-sense reasoning capabilities of LLMs to parse high-level semantic goals, while a vision model detects and localizes semantically relevant objects in the environment. By fusing these modalities, the UAV can reason about spatial relationships, disambiguate references in human instructions, and plan context-aware behaviors with minimal task-specific supervision. To ensure robust and interpretable decision-making, the framework includes a cross-modal grounding mechanism that aligns linguistic intent with visual context. We evaluate UAV-VLN across diverse indoor and outdoor navigation scenarios, demonstrating its ability to generalize to novel instructions and environments with minimal task-specific training. Our results show significant improvements in instruction-following accuracy and trajectory efficiency, highlighting the potential of LLM-driven vision-language interfaces for safe, intuitive, and generalizable UAV autonomy.

With the recent rise of large language models, vision-language models, and other general foundation models, there is growing potential for multimodal, multi-task robotics that can operate in diverse environments given natural language input. One such application is indoor navigation using natural language instructions. However, despite recent progress, this problem remains challenging due to the 3D spatial reasoning and semantic understanding required. Additionally, the language used may be imperfect or misaligned with the scene, further complicating the task. To address this challenge, we curate a benchmark dataset, IRef-VLA, for Interactive Referential Vision and Language-guided Action in 3D Scenes with imperfect references. IRef-VLA is the largest real-world dataset for the referential grounding task, consisting of over 11.5K scanned 3D rooms from existing datasets, 7.6M heuristically generated semantic relations, and 4.7M referential statements. Our dataset also contains semantic object and room annotations, scene graphs, navigable free space annotations, and is augmented with statements where the language has imperfections or ambiguities. We verify the generalizability of our dataset by evaluating with state-of-the-art models to obtain a performance baseline and also develop a graph-search baseline to demonstrate the performance bound and generation of alternatives using scene-graph knowledge. With this benchmark, we aim to provide a resource for 3D scene understanding that aids the development of robust, interactive navigation systems. The dataset and all source code is publicly released at https://github.com/HaochenZ11/IRef-VLA.

Large language models (LLMs) can perform a wide range of tasks by following natural language instructions, without the necessity of task-specific fine-tuning. Unfortunately, the performance of LLMs is greatly influenced by the quality of these instructions, and manually writing effective instructions for each task is a laborious and subjective process. In this paper, we introduce Auto-Instruct, a novel method to automatically improve the quality of instructions provided to LLMs. Our method leverages the inherent generative ability of LLMs to produce diverse candidate instructions for a given task, and then ranks them using a scoring model trained on a variety of 575 existing NLP tasks. In experiments on 118 out-of-domain tasks, Auto-Instruct surpasses both human-written instructions and existing baselines of LLM-generated instructions. Furthermore, our method exhibits notable generalizability even with other LLMs that are not incorporated into its training process.

Developing 3D-VL generalists capable of understanding 3D scenes and following natural language instructions to perform a wide range of tasks has been a long-standing goal in the 3D-VL community. Despite recent progress, 3D-VL models still lag behind their 2D counterparts in capability and robustness, falling short of the generalist standard. A key obstacle to developing 3D-VL generalists lies in data scalability, hindered by the lack of an efficient scene representation. We propose LEO-VL, a 3D-VL model built upon condensed feature grid (CFG), an efficient scene representation that bridges 2D perception and 3D spatial structure while significantly reducing token overhead. This efficiency unlocks large-scale training towards 3D-VL generalist, for which we curate over 700k high-quality 3D-VL data spanning four domains of real-world indoor scenes and five tasks such as captioning and dialogue. LEO-VL achieves state-of-the-art performance on a variety of 3D QA benchmarks, including SQA3D, MSQA, and Beacon3D. Ablation studies confirm the efficiency of our representation, the importance of task and scene diversity, and the validity of our data curation principle. Furthermore, we introduce SceneDPO, a novel post-training objective that enhances the robustness of 3D-VL models. We hope our findings contribute to the advancement of scalable and robust 3D-VL generalists.

Vision-and-Language Navigation (VLN) is an essential skill for embodied agents, allowing them to navigate in 3D environments following natural language instructions. High-performance navigation models require a large amount of training data, the high cost of manually annotating data has seriously hindered this field. Therefore, some previous methods translate trajectory videos into step-by-step instructions for expanding data, but such instructions do not match well with users' communication styles that briefly describe destinations or state specific needs. Moreover, local navigation trajectories overlook global context and high-level task planning. To address these issues, we propose NavRAG, a retrieval-augmented generation (RAG) framework that generates user demand instructions for VLN. NavRAG leverages LLM to build a hierarchical scene description tree for 3D scene understanding from global layout to local details, then simulates various user roles with specific demands to retrieve from the scene tree, generating diverse instructions with LLM. We annotate over 2 million navigation instructions across 861 scenes and evaluate the data quality and navigation performance of trained models.

In developing Vision-and-Language Navigation (VLN) agents that navigate to a destination using natural language instructions and visual cues, current studies largely assume a train-once-deploy-once strategy. We argue that this kind of strategy is less realistic, as deployed VLN agents are expected to encounter novel environments continuously through their lifetime. To facilitate more realistic setting for VLN agents, we propose Continual Vision-and-Language Navigation (CVLN) paradigm for agents to continually learn and adapt to changing environments. In CVLN, the agents are trained and evaluated incrementally across multiple scene domains (i.e., environments). We present two CVLN learning setups to consider diverse forms of natural language instructions: Initial-instruction based CVLN, focused on navigation via initial-instruction interpretation, and dialogue-based CVLN, designed for navigation through dialogue with other agents. We introduce two simple yet effective baseline methods, tailored to the sequential decision-making needs of CVLN: Perplexity Replay (PerpR) and Episodic Self-Replay (ESR), both employing a rehearsal mechanism. PerpR selects replay episodes based on episode difficulty, while ESR stores and revisits action logits from individual episode steps during training to refine learning. Experimental results indicate that while existing continual learning methods are insufficient for CVLN, PerpR and ESR outperform the comparison methods by effectively utilizing replay memory.

We present ALFRED (Action Learning From Realistic Environments and Directives), a benchmark for learning a mapping from natural language instructions and egocentric vision to sequences of actions for household tasks. ALFRED includes long, compositional tasks with non-reversible state changes to shrink the gap between research benchmarks and real-world applications. ALFRED consists of expert demonstrations in interactive visual environments for 25k natural language directives. These directives contain both high-level goals like "Rinse off a mug and place it in the coffee maker." and low-level language instructions like "Walk to the coffee maker on the right." ALFRED tasks are more complex in terms of sequence length, action space, and language than existing vision-and-language task datasets. We show that a baseline model based on recent embodied vision-and-language tasks performs poorly on ALFRED, suggesting that there is significant room for developing innovative grounded visual language understanding models with this benchmark.

One core capability of Large Language Models (LLMs) is to follow natural language instructions. However, the evaluation of such abilities is not standardized: Human evaluations are expensive, slow, and not objectively reproducible, while LLM-based auto-evaluation is potentially biased or limited by the ability of the evaluator LLM. To overcome these issues, we introduce Instruction-Following Eval (IFEval) for large language models. IFEval is a straightforward and easy-to-reproduce evaluation benchmark. It focuses on a set of "verifiable instructions" such as "write in more than 400 words" and "mention the keyword of AI at least 3 times". We identified 25 types of those verifiable instructions and constructed around 500 prompts, with each prompt containing one or more verifiable instructions. We show evaluation results of two widely available LLMs on the market. Our code and data can be found at https://github.com/google-research/google-research/tree/master/instruction_following_eval

One core capability of large language models (LLMs) is to follow natural language instructions. However, the issue of automatically constructing high-quality training data to enhance the complex instruction-following abilities of LLMs without manual annotation remains unresolved. In this paper, we introduce AutoIF, the first scalable and reliable method for automatically generating instruction-following training data. AutoIF transforms the validation of instruction-following data quality into code verification, requiring LLMs to generate instructions, the corresponding code to check the correctness of the instruction responses, and unit test samples to verify the code's correctness. Then, execution feedback-based rejection sampling can generate data for Supervised Fine-Tuning (SFT) and Reinforcement Learning from Human Feedback (RLHF) training. AutoIF achieves significant improvements across three training algorithms, SFT, Offline DPO, and Online DPO, when applied to the top open-source LLMs, Qwen2 and LLaMA3, in self-alignment and strong-to-weak distillation settings. Our code is publicly available at https://github.com/QwenLM/AutoIF.

Vision-Language Navigation (VLN) is a critical task for developing embodied agents that can follow natural language instructions to navigate in complex real-world environments. Recent advances in VLN by large pretrained models have significantly improved generalization and instruction grounding compared to traditional approaches. However, the role of reasoning strategies in navigation-an action-centric, long-horizon task-remains underexplored, despite Chain-of-Thought (CoT) reasoning's demonstrated success in static tasks like visual question answering. To address this gap, we conduct the first systematic evaluation of reasoning strategies for VLN, including No-Think (direct action prediction), Pre-Think (reason before action), and Post-Think (reason after action). Surprisingly, our findings reveal the Inference-time Reasoning Collapse issue, where inference-time reasoning degrades navigation accuracy, highlighting the challenges of integrating reasoning into VLN. Based on this insight, we propose Aux-Think, a framework that trains models to internalize structured reasoning patterns through CoT supervision, while inferring action directly without reasoning in online prediction. To support this framework, we release R2R-CoT-320k, the first Chain-of-Thought annotated dataset for VLN. Extensive experiments show that Aux-Think reduces training effort greatly and achieves the best performance under the same data scale.

Vision-and-Language Navigation (VLN) aims to enable embodied agents to follow natural language instructions and reach target locations in real-world environments. While prior methods often rely on either global scene representations or object-level features, these approaches are insufficient for capturing the complex interactions across modalities required for accurate navigation. In this paper, we propose a Multi-level Fusion and Reasoning Architecture (MFRA) to enhance the agent's ability to reason over visual observations, language instructions and navigation history. Specifically, MFRA introduces a hierarchical fusion mechanism that aggregates multi-level features-ranging from low-level visual cues to high-level semantic concepts-across multiple modalities. We further design a reasoning module that leverages fused representations to infer navigation actions through instruction-guided attention and dynamic context integration. By selectively capturing and combining relevant visual, linguistic, and temporal signals, MFRA improves decision-making accuracy in complex navigation scenarios. Extensive experiments on benchmark VLN datasets including REVERIE, R2R, and SOON demonstrate that MFRA achieves superior performance compared to state-of-the-art methods, validating the effectiveness of multi-level modal fusion for embodied navigation.

Pre-training robot policies with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural language instructions, but doing so requires tedious human annotation of hundreds of thousands of instructions. Thus, we propose SPRINT, a scalable offline policy pre-training approach which substantially reduces the human effort needed for pre-training a diverse set of skills. Our method uses two core ideas to automatically expand a base set of pre-training tasks: instruction relabeling via large language models and cross-trajectory skill chaining through offline reinforcement learning. As a result, SPRINT pre-training equips robots with a much richer repertoire of skills. Experimental results in a household simulator and on a real robot kitchen manipulation task show that SPRINT leads to substantially faster learning of new long-horizon tasks than previous pre-training approaches. Website at https://clvrai.com/sprint.

Large language models (LLMs) have demonstrated remarkable performance on a variety of natural language tasks based on just a few examples of natural language instructions, reducing the need for extensive feature engineering. However, most powerful LLMs are closed-source or limited in their capability for languages other than English. In this technical report, we present Baichuan 2, a series of large-scale multilingual language models containing 7 billion and 13 billion parameters, trained from scratch, on 2.6 trillion tokens. Baichuan 2 matches or outperforms other open-source models of similar size on public benchmarks like MMLU, CMMLU, GSM8K, and HumanEval. Furthermore, Baichuan 2 excels in vertical domains such as medicine and law. We will release all pre-training model checkpoints to benefit the research community in better understanding the training dynamics of Baichuan 2.

Multimodal foundation models, such as Gemini and ChatGPT, have revolutionized human-machine interactions by seamlessly integrating various forms of data. Developing a universal spoken language model that comprehends a wide range of natural language instructions is critical for bridging communication gaps and facilitating more intuitive interactions. However, the absence of a comprehensive evaluation benchmark poses a significant challenge. We present Dynamic-SUPERB Phase-2, an open and evolving benchmark for the comprehensive evaluation of instruction-based universal speech models. Building upon the first generation, this second version incorporates 125 new tasks contributed collaboratively by the global research community, expanding the benchmark to a total of 180 tasks, making it the largest benchmark for speech and audio evaluation. While the first generation of Dynamic-SUPERB was limited to classification tasks, Dynamic-SUPERB Phase-2 broadens its evaluation capabilities by introducing a wide array of novel and diverse tasks, including regression and sequence generation, across speech, music, and environmental audio. Evaluation results indicate that none of the models performed well universally. SALMONN-13B excelled in English ASR, while WavLLM demonstrated high accuracy in emotion recognition, but current models still require further innovations to handle a broader range of tasks. We will soon open-source all task data and the evaluation pipeline.

Instruction-finetuned code language models (LMs) have shown promise in various programming tasks. They are trained, using a language modeling objective, on natural language instructions and gold code snippet pairs. Recent evidence suggests that these models, never exposed to incorrect solutions during training, often struggle to distinguish between correct and incorrect solutions. This observation raises our inquiry: Can preference learning, which trains models to prefer correct solutions over incorrect ones, help push the boundaries of code LMs even further? We propose PLUM, a novel preference learning framework augmented with test cases tailored for code LMs.PLUM aims to investigate the key success factors and potential benefits of preference learning in code LMs, which remain elusive despite its success in aligning LMs with human values. PLUM consists of three stages: (1) Generating test cases for natural language instructions, (2) sampling candidate solutions from the policy and evaluating them against the test cases to create a preference dataset, which is then used to (3) train the policy with a preference learning algorithm. Experiments demonstrate that PLUM substantially improves the performance of existing code LMs on established code generation benchmarks such as HumanEval (+) and MBPP (+), even for the state-of-the-art open-source language model CodeQwen-1.5-7B-Chat. PLUM complements the supervised fine-tuning (SFT) stage, demonstrating synergistic effects.

Neural Networks (NNs) trained through supervised learning struggle with managing edge-case scenarios common in real-world driving due to the intractability of exhaustive datasets covering all edge-cases, making knowledge-driven approaches, akin to how humans intuitively detect unexpected driving behavior, a suitable complement to data-driven methods. This work proposes a hybrid architecture combining low-level Model Predictive Controller (MPC) with locally deployed Large Language Models (LLMs) to enhance decision-making and Human Machine Interaction (HMI). The DecisionxLLM module evaluates robotic state information against natural language instructions to ensure adherence to desired driving behavior. The MPCxLLM module then adjusts MPC parameters based on LLM-generated insights, achieving control adaptability while preserving the safety and constraint guarantees of traditional MPC systems. Further, to enable efficient on-board deployment and to eliminate dependency on cloud connectivity, we shift processing to the on-board computing platform: We propose an approach that exploits Retrieval Augmented Generation (RAG), Low Rank Adaptation (LoRA) fine-tuning, and quantization. Experimental results demonstrate that these enhancements yield significant improvements in reasoning accuracy by up to 10.45%, control adaptability by as much as 52.2%, and up to 10.5x increase in computational efficiency (tokens/s), validating the proposed framework's practicality for real-time deployment even on down-scaled robotic platforms. This work bridges high-level decision-making with low-level control adaptability, offering a synergistic framework for knowledge-driven and adaptive Autonomous Driving Systems (ADS).

Object rearrangement is a significant task for collaborative robots, where they are directed to manipulate objects into a specified goal state. Determining the placement of objects is a major challenge that influences the efficiency of the rearrangement process. Most current methods heavily rely on pre-collected datasets to train the model for predicting the goal position and are restricted to specific instructions, which limits their broader applicability and effectiveness.In this paper, we propose a framework of language-conditioned object rearrangement based on the Large Language Model (LLM). Particularly, our approach mimics human reasoning by using past successful experiences as a reference to infer the desired goal position. Based on LLM's strong natural language comprehension and inference ability, our method can generalise to handle various everyday objects and free-form language instructions in a zero-shot manner. Experimental results demonstrate that our methods can effectively execute the robotic rearrangement tasks, even those involving long sequential orders.

Finite state machines (FSMs) are widely used to manage robot behavior logic, particularly in real-world applications that require a high degree of reliability and structure. However, traditional manual FSM design and modification processes can be time-consuming and error-prone. We propose that large language models (LLMs) can assist developers in editing FSM code for real-world robotic use cases. LLMs, with their ability to use context and process natural language, offer a solution for FSM modification with high correctness, allowing developers to update complex control logic through natural language instructions. Our approach leverages few-shot prompting and language-guided code generation to reduce the amount of time it takes to edit an FSM. To validate this approach, we evaluate it on a real-world robotics dataset, demonstrating its effectiveness in practical scenarios.

Object navigation is crucial for robots, but traditional methods require substantial training data and cannot be generalized to unknown environments. Zero-shot object navigation (ZSON) aims to address this challenge, allowing robots to interact with unknown objects without specific training data. Language-driven zero-shot object navigation (L-ZSON) is an extension of ZSON that incorporates natural language instructions to guide robot navigation and interaction with objects. In this paper, we propose a novel Vision Language model with a Tree-of-thought Network (VLTNet) for L-ZSON. VLTNet comprises four main modules: vision language model understanding, semantic mapping, tree-of-thought reasoning and exploration, and goal identification. Among these modules, Tree-of-Thought (ToT) reasoning and exploration module serves as a core component, innovatively using the ToT reasoning framework for navigation frontier selection during robot exploration. Compared to conventional frontier selection without reasoning, navigation using ToT reasoning involves multi-path reasoning processes and backtracking when necessary, enabling globally informed decision-making with higher accuracy. Experimental results on PASTURE and RoboTHOR benchmarks demonstrate the outstanding performance of our model in LZSON, particularly in scenarios involving complex natural language as target instructions.

Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unforeseen events and challenging urban scenarios. On the one hand, large language models (LLM) have shown impressive reasoning capabilities that approach "Artificial General Intelligence". On the other hand, previous autonomous driving methods tend to rely on limited-format inputs (e.g. sensor data and navigation waypoints), restricting the vehicle's ability to understand language information and interact with humans. To this end, this paper introduces LMDrive, a novel language-guided, end-to-end, closed-loop autonomous driving framework. LMDrive uniquely processes and integrates multi-modal sensor data with natural language instructions, enabling interaction with humans and navigation software in realistic instructional settings. To facilitate further research in language-based closed-loop autonomous driving, we also publicly release the corresponding dataset which includes approximately 64K instruction-following data clips, and the LangAuto benchmark that tests the system's ability to handle complex instructions and challenging driving scenarios. Extensive closed-loop experiments are conducted to demonstrate LMDrive's effectiveness. To the best of our knowledge, we're the very first work to leverage LLMs for closed-loop end-to-end autonomous driving. Codes can be found at https://github.com/opendilab/LMDrive

The ability for robots to comprehend and execute manipulation tasks based on natural language instructions is a long-term goal in robotics. The dominant approaches for language-guided manipulation use 2D image representations, which face difficulties in combining multi-view cameras and inferring precise 3D positions and relationships. To address these limitations, we propose a 3D point cloud based policy called PolarNet for language-guided manipulation. It leverages carefully designed point cloud inputs, efficient point cloud encoders, and multimodal transformers to learn 3D point cloud representations and integrate them with language instructions for action prediction. PolarNet is shown to be effective and data efficient in a variety of experiments conducted on the RLBench benchmark. It outperforms state-of-the-art 2D and 3D approaches in both single-task and multi-task learning. It also achieves promising results on a real robot.

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

Large language models (LLMs) have shown incredible proficiency in performing tasks that require semantic understanding of natural language instructions. Recently, many works have further expanded this capability to perceive multimodal audio and text inputs, but their capabilities are often limited to specific fine-tuned tasks such as automatic speech recognition and translation. We therefore develop SpeechVerse, a robust multi-task training and curriculum learning framework that combines pre-trained speech and text foundation models via a small set of learnable parameters, while keeping the pre-trained models frozen during training. The models are instruction finetuned using continuous latent representations extracted from the speech foundation model to achieve optimal zero-shot performance on a diverse range of speech processing tasks using natural language instructions. We perform extensive benchmarking that includes comparing our model performance against traditional baselines across several datasets and tasks. Furthermore, we evaluate the model's capability for generalized instruction following by testing on out-of-domain datasets, novel prompts, and unseen tasks. Our empirical experiments reveal that our multi-task SpeechVerse model is even superior to conventional task-specific baselines on 9 out of the 11 tasks.

Large Language Models (LLMs) have demonstrated impressive zero-shot capabilities in long-form text generation tasks expressed through natural language instructions. However, user expectations for long-form text rewriting is high, and unintended rewrites (''hallucinations'') produced by the model can negatively impact its overall performance. Existing evaluation benchmarks primarily focus on limited rewriting styles and sentence-level rewriting rather than long-form open-ended rewriting.We introduce OpenRewriteEval, a novel benchmark that covers a wide variety of rewriting types expressed through natural language instructions. It is specifically designed to facilitate the evaluation of open-ended rewriting of long-form texts. In addition, we propose a strong baseline model, RewriteLM, an instruction-tuned large language model for long-form text rewriting. We develop new strategies that facilitate the generation of diverse instructions and preference data with minimal human intervention. We conduct empirical experiments and demonstrate that our model outperforms the current state-of-the-art LLMs in text rewriting. Specifically, it excels in preserving the essential content and meaning of the source text, minimizing the generation of ''hallucinated'' content, while showcasing the ability to generate rewrites with diverse wording and structures.

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for general-purpose robot control through natural language instructions. However, their high inference cost-stemming from large-scale token computation and autoregressive decoding-poses significant challenges for real-time deployment and edge applications. While prior work has primarily focused on architectural optimization, we take a different perspective by identifying a dual form of redundancy in VLA models: (i) high similarity across consecutive action steps, and (ii) substantial redundancy in visual tokens. Motivated by these observations, we propose FlashVLA, the first training-free and plug-and-play acceleration framework that enables action reuse in VLA models. FlashVLA improves inference efficiency through a token-aware action reuse mechanism that avoids redundant decoding across stable action steps, and an information-guided visual token selection strategy that prunes low-contribution tokens. Extensive experiments on the LIBERO benchmark show that FlashVLA reduces FLOPs by 55.7% and latency by 36.0%, with only a 0.7% drop in task success rate. These results demonstrate the effectiveness of FlashVLA in enabling lightweight, low-latency VLA inference without retraining.

This letter introduces ERRA, an embodied learning architecture that enables robots to jointly obtain three fundamental capabilities (reasoning, planning, and interaction) for solving long-horizon language-conditioned manipulation tasks. ERRA is based on tightly-coupled probabilistic inferences at two granularity levels. Coarse-resolution inference is formulated as sequence generation through a large language model, which infers action language from natural language instruction and environment state. The robot then zooms to the fine-resolution inference part to perform the concrete action corresponding to the action language. Fine-resolution inference is constructed as a Markov decision process, which takes action language and environmental sensing as observations and outputs the action. The results of action execution in environments provide feedback for subsequent coarse-resolution reasoning. Such coarse-to-fine inference allows the robot to decompose and achieve long-horizon tasks interactively. In extensive experiments, we show that ERRA can complete various long-horizon manipulation tasks specified by abstract language instructions. We also demonstrate successful generalization to the novel but similar natural language instructions.

Recent work on large language models relies on the intuition that most natural language processing tasks can be described via natural language instructions. Language models trained on these instructions show strong zero-shot performance on several standard datasets. However, these models even though impressive still perform poorly on a wide range of tasks outside of their respective training and evaluation sets. To address this limitation, we argue that a model should be able to keep extending its knowledge and abilities, without forgetting previous skills. In spite of the limited success of Continual Learning we show that Language Models can be continual learners. We empirically investigate the reason for this success and conclude that Continual Learning emerges from self-supervision pre-training. Our resulting model Continual-T0 (CT0) is able to learn diverse new tasks, while still maintaining good performance on previous tasks, spanning remarkably through 70 datasets in total. Finally, we show that CT0 is able to combine instructions in ways it was never trained for, demonstrating some compositionality.

One of the fundamental quests of AI is to produce agents that coordinate well with humans. This problem is challenging, especially in domains that lack high quality human behavioral data, because multi-agent reinforcement learning (RL) often converges to different equilibria from the ones that humans prefer. We propose a novel framework, instructRL, that enables humans to specify what kind of strategies they expect from their AI partners through natural language instructions. We use pretrained large language models to generate a prior policy conditioned on the human instruction and use the prior to regularize the RL objective. This leads to the RL agent converging to equilibria that are aligned with human preferences. We show that instructRL converges to human-like policies that satisfy the given instructions in a proof-of-concept environment as well as the challenging Hanabi benchmark. Finally, we show that knowing the language instruction significantly boosts human-AI coordination performance in human evaluations in Hanabi.

Vision-and-Language Navigation (VLN) task aims to enable AI agents to accurately understand and follow natural language instructions to navigate through real-world environments, ultimately reaching specific target locations. We recognise a promising opportunity to extend VLN to a comparable navigation task that holds substantial significance in our daily lives, albeit within the virtual realm: navigating websites on the Internet. This paper proposes a new task named Vision-and-Language Navigation on Websites (WebVLN), where we use question-based instructions to train an agent, emulating how users naturally browse websites. Unlike the existing VLN task that only pays attention to vision and instruction (language), the WebVLN agent further considers underlying web-specific content like HTML, which could not be seen on the rendered web pages yet contains rich visual and textual information. Toward this goal, we contribute a dataset, WebVLN-v1, and introduce a novel approach called Website-aware VLN Network (WebVLN-Net), which is built upon the foundation of state-of-the-art VLN techniques. Experimental results show that WebVLN-Net outperforms current VLN and web-related navigation methods. We believe that the introduction of the new WebVLN task and its dataset will establish a new dimension within the VLN domain and contribute to the broader vision-and-language research community. The code is available at: https://github.com/WebVLN/WebVLN.

The main challenge in vision-and-language navigation (VLN) is how to understand natural-language instructions in an unseen environment. The main limitation of conventional VLN algorithms is that if an action is mistaken, the agent fails to follow the instructions or explores unnecessary regions, leading the agent to an irrecoverable path. To tackle this problem, we propose Meta-Explore, a hierarchical navigation method deploying an exploitation policy to correct misled recent actions. We show that an exploitation policy, which moves the agent toward a well-chosen local goal among unvisited but observable states, outperforms a method which moves the agent to a previously visited state. We also highlight the demand for imagining regretful explorations with semantically meaningful clues. The key to our approach is understanding the object placements around the agent in spectral-domain. Specifically, we present a novel visual representation, called scene object spectrum (SOS), which performs category-wise 2D Fourier transform of detected objects. Combining exploitation policy and SOS features, the agent can correct its path by choosing a promising local goal. We evaluate our method in three VLN benchmarks: R2R, SOON, and REVERIE. Meta-Explore outperforms other baselines and shows significant generalization performance. In addition, local goal search using the proposed spectral-domain SOS features significantly improves the success rate by 17.1% and SPL by 20.6% for the SOON benchmark.

Algorithmic reasoning refers to the ability to understand the complex patterns behind the problem and decompose them into a sequence of reasoning steps towards the solution. Such nature of algorithmic reasoning makes it a challenge for large language models (LLMs), even though they have demonstrated promising performance in other reasoning tasks. Within this context, some recent studies use programming languages (e.g., Python) to express the necessary logic for solving a given instance/question (e.g., Program-of-Thought) as inspired by their strict and precise syntaxes. However, it is non-trivial to write an executable code that expresses the correct logic on the fly within a single inference call. Also, the code generated specifically for an instance cannot be reused for others, even if they are from the same task and might require identical logic to solve. This paper presents Think-and-Execute, a novel framework that decomposes the reasoning process of language models into two steps. (1) In Think, we discover a task-level logic that is shared across all instances for solving a given task and then express the logic with pseudocode; (2) In Execute, we further tailor the generated pseudocode to each instance and simulate the execution of the code. With extensive experiments on seven algorithmic reasoning tasks, we demonstrate the effectiveness of Think-and-Execute. Our approach better improves LMs' reasoning compared to several strong baselines performing instance-specific reasoning (e.g., CoT and PoT), suggesting the helpfulness of discovering task-level logic. Also, we show that compared to natural language, pseudocode can better guide the reasoning of LMs, even though they are trained to follow natural language instructions.

Pre-trained large language models (LLMs) require fine-tuning to improve their responsiveness to natural language instructions. Federated learning (FL) offers a way to perform fine-tuning using the abundant data on end devices without compromising data privacy. Most existing federated fine-tuning methods for LLMs rely on parameter-efficient fine-tuning techniques, which may not reach the performance heights possible with full-parameter tuning. However, the communication overhead associated with full-parameter tuning is prohibitively high for both servers and clients. This work introduces FedKSeed, a novel approach that employs zeroth-order optimization (ZOO) with a set of random seeds. It enables federated full-parameter tuning of billion-sized LLMs directly on devices. Our method significantly reduces transmission requirements between the server and clients to just a few scalar gradients and random seeds, amounting to only a few thousand bytes. Building on this, we develop a strategy to assess the significance of ZOO perturbations for FL, allowing for probability-differentiated seed sampling. This prioritizes perturbations that have a greater impact on model accuracy. Experiments across six scenarios with different LLMs, datasets and data partitions demonstrate that our approach outperforms existing federated LLM fine-tuning methods in terms of both communication efficiency and new task generalization.

Vision-and-language navigation (VLN) requires an embodied agent to navigate in realistic 3D environments using natural language instructions. Existing VLN methods suffer from training on small-scale environments or unreasonable path-instruction datasets, limiting the generalization to unseen environments. There are massive house tour videos on YouTube, providing abundant real navigation experiences and layout information. However, these videos have not been explored for VLN before. In this paper, we propose to learn an agent from these videos by creating a large-scale dataset which comprises reasonable path-instruction pairs from house tour videos and pre-training the agent on it. To achieve this, we have to tackle the challenges of automatically constructing path-instruction pairs and exploiting real layout knowledge from raw and unlabeled videos. To address these, we first leverage an entropy-based method to construct the nodes of a path trajectory. Then, we propose an action-aware generator for generating instructions from unlabeled trajectories. Last, we devise a trajectory judgment pretext task to encourage the agent to mine the layout knowledge. Experimental results show that our method achieves state-of-the-art performance on two popular benchmarks (R2R and REVERIE). Code is available at https://github.com/JeremyLinky/YouTube-VLN

This paper explores a simple method for improving the zero-shot learning abilities of language models. We show that instruction tuning -- finetuning language models on a collection of tasks described via instructions -- substantially improves zero-shot performance on unseen tasks. We take a 137B parameter pretrained language model and instruction-tune it on over 60 NLP tasks verbalized via natural language instruction templates. We evaluate this instruction-tuned model, which we call FLAN, on unseen task types. FLAN substantially improves the performance of its unmodified counterpart and surpasses zero-shot 175B GPT-3 on 20 of 25 tasks that we evaluate. FLAN even outperforms few-shot GPT-3 by a large margin on ANLI, RTE, BoolQ, AI2-ARC, OpenbookQA, and StoryCloze. Ablation studies reveal that number of finetuning datasets, model scale, and natural language instructions are key to the success of instruction tuning.

Training models to act as agents that can effectively navigate and perform actions in a complex environment, such as a web browser, has typically been challenging due to lack of training data. Large language models (LLMs) have recently demonstrated some capability to navigate novel environments as agents in a zero-shot or few-shot fashion, purely guided by natural language instructions as prompts. Recent research has also demonstrated LLMs have the capability to exceed their base performance through self-improvement, i.e. fine-tuning on data generated by the model itself. In this work, we explore the extent to which LLMs can self-improve their performance as agents in long-horizon tasks in a complex environment using the WebArena benchmark. In WebArena, an agent must autonomously navigate and perform actions on web pages to achieve a specified objective. We explore fine-tuning on three distinct synthetic training data mixtures and achieve a 31\% improvement in task completion rate over the base model on the WebArena benchmark through a self-improvement procedure. We additionally contribute novel evaluation metrics for assessing the performance, robustness, capabilities, and quality of trajectories of our fine-tuned agent models to a greater degree than simple, aggregate-level benchmark scores currently used to measure self-improvement.

Large language models (LLMs) with one or more fine-tuning phases have become a necessary step to unlock various capabilities, enabling LLMs to follow natural language instructions or align with human preferences. However, it carries the risk of catastrophic forgetting during sequential training, the parametric knowledge or the ability learned in previous stages may be overwhelmed by incoming training data. In this paper, we find that by regularly resetting partial parameters, LLMs can restore some of the original knowledge. Inspired by this, we introduce Half Fine-Tuning (HFT) for LLMs, as a substitute for full fine-tuning (FFT), to mitigate the forgetting issues, where half of the parameters are selected to learn new tasks while the other half are frozen to remain previous knowledge. We provide a feasibility analysis from the perspective of optimization and interpret the parameter selection operation as a regularization term. Without changing the model architecture, HFT could be seamlessly integrated into existing fine-tuning frameworks. Extensive experiments and analysis on supervised fine-tuning, direct preference optimization, and continual learning consistently demonstrate the effectiveness, robustness, and efficiency of HFT. Compared with FFT, HFT not only significantly alleviates the forgetting problem, but also achieves the best performance in a series of downstream benchmarks, with an approximately 30% reduction in training time.

The recent surge of generative AI has been fueled by the generative power of diffusion probabilistic models and the scalable capabilities of large language models. Despite their potential, it remains elusive whether diffusion language models can solve general language tasks comparable to their autoregressive counterparts. This paper demonstrates that scaling diffusion models w.r.t. data, sizes, and tasks can effectively make them strong language learners. We build competent diffusion language models at scale by first acquiring knowledge from massive data via masked language modeling pretraining thanks to their intrinsic connections. We then reprogram pretrained masked language models into diffusion language models via diffusive adaptation, wherein task-specific finetuning and instruction finetuning are explored to unlock their versatility in solving general language tasks. Experiments show that scaling diffusion language models consistently improves performance across downstream language tasks. We further discover that instruction finetuning can elicit zero-shot and few-shot in-context learning abilities that help tackle many unseen tasks by following natural language instructions, and show promise in advanced and challenging abilities such as reasoning.

The prevailing paradigm in the domain of Open-Domain Dialogue agents predominantly focuses on the English language, encompassing both models and datasets. Furthermore, the financial and temporal investments required for crowdsourcing such datasets for finetuning are substantial, particularly when multiple languages are involved. Fortunately, advancements in Large Language Models (LLMs) have unveiled a plethora of possibilities across diverse tasks. Specifically, instruction-tuning has enabled LLMs to execute tasks based on natural language instructions, occasionally surpassing the performance of human crowdworkers. Additionally, these models possess the capability to function in various languages within a single thread. Consequently, to generate new samples in different languages, we propose leveraging these capabilities to replicate the data collection process. We introduce a pipeline for generating Open-Domain Dialogue data in multiple Target Languages using LLMs, with demonstrations provided in a unique Source Language. By eschewing explicit Machine Translation in this approach, we enhance the adherence to language-specific nuances. We apply this methodology to the PersonaChat dataset. To enhance the openness of generated dialogues and mimic real life scenarii, we added the notion of speech events corresponding to the type of conversation the speakers are involved in and also that of common ground which represents the premises of a conversation.

Developing robots capable of executing various manipulation tasks, guided by natural language instructions and visual observations of intricate real-world environments, remains a significant challenge in robotics. Such robot agents need to understand linguistic commands and distinguish between the requirements of different tasks. In this work, we present Sigma-Agent, an end-to-end imitation learning agent for multi-task robotic manipulation. Sigma-Agent incorporates contrastive Imitation Learning (contrastive IL) modules to strengthen vision-language and current-future representations. An effective and efficient multi-view querying Transformer (MVQ-Former) for aggregating representative semantic information is introduced. Sigma-Agent shows substantial improvement over state-of-the-art methods under diverse settings in 18 RLBench tasks, surpassing RVT by an average of 5.2% and 5.9% in 10 and 100 demonstration training, respectively. Sigma-Agent also achieves 62% success rate with a single policy in 5 real-world manipulation tasks. The code will be released upon acceptance.

GUIs have long been central to human-computer interaction, providing an intuitive and visually-driven way to access and interact with digital systems. The advent of LLMs, particularly multimodal models, has ushered in a new era of GUI automation. They have demonstrated exceptional capabilities in natural language understanding, code generation, and visual processing. This has paved the way for a new generation of LLM-brained GUI agents capable of interpreting complex GUI elements and autonomously executing actions based on natural language instructions. These agents represent a paradigm shift, enabling users to perform intricate, multi-step tasks through simple conversational commands. Their applications span across web navigation, mobile app interactions, and desktop automation, offering a transformative user experience that revolutionizes how individuals interact with software. This emerging field is rapidly advancing, with significant progress in both research and industry. To provide a structured understanding of this trend, this paper presents a comprehensive survey of LLM-brained GUI agents, exploring their historical evolution, core components, and advanced techniques. We address research questions such as existing GUI agent frameworks, the collection and utilization of data for training specialized GUI agents, the development of large action models tailored for GUI tasks, and the evaluation metrics and benchmarks necessary to assess their effectiveness. Additionally, we examine emerging applications powered by these agents. Through a detailed analysis, this survey identifies key research gaps and outlines a roadmap for future advancements in the field. By consolidating foundational knowledge and state-of-the-art developments, this work aims to guide both researchers and practitioners in overcoming challenges and unlocking the full potential of LLM-brained GUI agents.

The cost of vision-and-language pre-training has become increasingly prohibitive due to end-to-end training of large-scale models. This paper proposes BLIP-2, a generic and efficient pre-training strategy that bootstraps vision-language pre-training from off-the-shelf frozen pre-trained image encoders and frozen large language models. BLIP-2 bridges the modality gap with a lightweight Querying Transformer, which is pre-trained in two stages. The first stage bootstraps vision-language representation learning from a frozen image encoder. The second stage bootstraps vision-to-language generative learning from a frozen language model. BLIP-2 achieves state-of-the-art performance on various vision-language tasks, despite having significantly fewer trainable parameters than existing methods. For example, our model outperforms Flamingo80B by 8.7% on zero-shot VQAv2 with 54x fewer trainable parameters. We also demonstrate the model's emerging capabilities of zero-shot image-to-text generation that can follow natural language instructions.

Recent advancements in large language models (LLMs) have catalyzed significant interest in the automatic generation of Register-Transfer Level (RTL) code, particularly Verilog, from natural language instructions. While commercial LLMs like ChatGPT have dominated this domain, open-source alternatives have lagged considerably in performance, limiting the flexibility and data privacy of this emerging technology. This study introduces a novel approach utilizing reinforcement learning with golden code feedback to enhance the performance of pre-trained models. Leveraging open-source data and base models, we have achieved state-of-the-art (SOTA) results with a substantial margin. Notably, our 6.7B parameter model demonstrates superior performance compared to current best-in-class 13B and 16B models. Furthermore, through a comprehensive analysis of the limitations in direct fine-tuning and the training dynamics of reinforcement learning, we posit that the development of comprehensive supervisory signals, which are align with the inherent parallel semantics of Verilog code, is critical to effective generation. The code and data associated with this research are publicly available at https://github.com/CatIIIIIIII/veriseek. The model weights can be accessed at https://huggingface.co/WANGNingroci/VeriSeek.

Alignment is a standard procedure to fine-tune pre-trained large language models (LLMs) to follow natural language instructions and serve as helpful AI assistants. We have observed, however, that the conventional alignment process fails to enhance the factual accuracy of LLMs, and often leads to the generation of more false facts (i.e. hallucination). In this paper, we study how to make the LLM alignment process more factual, by first identifying factors that lead to hallucination in both alignment steps:\ supervised fine-tuning (SFT) and reinforcement learning (RL). In particular, we find that training the LLM on new knowledge or unfamiliar texts can encourage hallucination. This makes SFT less factual as it trains on human labeled data that may be novel to the LLM. Furthermore, reward functions used in standard RL can also encourage hallucination, because it guides the LLM to provide more helpful responses on a diverse set of instructions, often preferring longer and more detailed responses. Based on these observations, we propose factuality-aware alignment, comprised of factuality-aware SFT and factuality-aware RL through direct preference optimization. Experiments show that our proposed factuality-aware alignment guides LLMs to output more factual responses while maintaining instruction-following capability.

Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit physical constraints and long-term planning. Leveraging Large Language Models (LLMs), we develop RoboTool, a system that accepts natural language instructions and outputs executable code for controlling robots in both simulated and real-world environments. RoboTool incorporates four pivotal components: (i) an "Analyzer" that interprets natural language to discern key task-related concepts, (ii) a "Planner" that generates comprehensive strategies based on the language input and key concepts, (iii) a "Calculator" that computes parameters for each skill, and (iv) a "Coder" that translates these plans into executable Python code. Our results show that RoboTool can not only comprehend explicit or implicit physical constraints and environmental factors but also demonstrate creative tool use. Unlike traditional Task and Motion Planning (TAMP) methods that rely on explicit optimization, our LLM-based system offers a more flexible, efficient, and user-friendly solution for complex robotics tasks. Through extensive experiments, we validate that RoboTool is proficient in handling tasks that would otherwise be infeasible without the creative use of tools, thereby expanding the capabilities of robotic systems. Demos are available on our project page: https://creative-robotool.github.io/.

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained on limited household datasets with close-set objects. However, two key challenges are unsolved: understanding free-form natural language instructions that demand open-set objects, and generalizing to new environments in a zero-shot manner. Aiming to solve the two challenges, in this paper, we propose OpenFMNav, an Open-set Foundation Model based framework for zero-shot object Navigation. We first unleash the reasoning abilities of large language models (LLMs) to extract proposed objects from natural language instructions that meet the user's demand. We then leverage the generalizability of large vision language models (VLMs) to actively discover and detect candidate objects from the scene, building a Versatile Semantic Score Map (VSSM). Then, by conducting common sense reasoning on VSSM, our method can perform effective language-guided exploration and exploitation of the scene and finally reach the goal. By leveraging the reasoning and generalizing abilities of foundation models, our method can understand free-form human instructions and perform effective open-set zero-shot navigation in diverse environments. Extensive experiments on the HM3D ObjectNav benchmark show that our method surpasses all the strong baselines on all metrics, proving our method's effectiveness. Furthermore, we perform real robot demonstrations to validate our method's open-set-ness and generalizability to real-world environments.

Natural language serves as the primary mode of communication when an intelligent agent with a physical presence engages with human beings. While a plethora of research focuses on natural language understanding (NLU), encompassing endeavors such as sentiment analysis, intent prediction, question answering, and summarization, the scope of NLU directed at situations necessitating tangible actions by an embodied agent remains limited. The inherent ambiguity and incompleteness inherent in natural language present challenges for intelligent agents striving to decipher human intention. To tackle this predicament head-on, we introduce a novel system known as task and argument grounding for Embodied agents (tagE). At its core, our system employs an inventive neural network model designed to extract a series of tasks from complex task instructions expressed in natural language. Our proposed model adopts an encoder-decoder framework enriched with nested decoding to effectively extract tasks and their corresponding arguments from these intricate instructions. These extracted tasks are then mapped (or grounded) to the robot's established collection of skills, while the arguments find grounding in objects present within the environment. To facilitate the training and evaluation of our system, we have curated a dataset featuring complex instructions. The results of our experiments underscore the prowess of our approach, as it outperforms robust baseline models.

For robots to follow instructions from people, they must be able to connect the rich semantic information in human vocabulary, e.g. "can you get me the pink stuffed whale?" to their sensory observations and actions. This brings up a notably difficult challenge for robots: while robot learning approaches allow robots to learn many different behaviors from first-hand experience, it is impractical for robots to have first-hand experiences that span all of this semantic information. We would like a robot's policy to be able to perceive and pick up the pink stuffed whale, even if it has never seen any data interacting with a stuffed whale before. Fortunately, static data on the internet has vast semantic information, and this information is captured in pre-trained vision-language models. In this paper, we study whether we can interface robot policies with these pre-trained models, with the aim of allowing robots to complete instructions involving object categories that the robot has never seen first-hand. We develop a simple approach, which we call Manipulation of Open-World Objects (MOO), which leverages a pre-trained vision-language model to extract object-identifying information from the language command and image, and conditions the robot policy on the current image, the instruction, and the extracted object information. In a variety of experiments on a real mobile manipulator, we find that MOO generalizes zero-shot to a wide range of novel object categories and environments. In addition, we show how MOO generalizes to other, non-language-based input modalities to specify the object of interest such as finger pointing, and how it can be further extended to enable open-world navigation and manipulation. The project's website and evaluation videos can be found at https://robot-moo.github.io/

This study focuses on using large language models (LLMs) as a planner for embodied agents that can follow natural language instructions to complete complex tasks in a visually-perceived environment. The high data cost and poor sample efficiency of existing methods hinders the development of versatile agents that are capable of many tasks and can learn new tasks quickly. In this work, we propose a novel method, LLM-Planner, that harnesses the power of large language models to do few-shot planning for embodied agents. We further propose a simple but effective way to enhance LLMs with physical grounding to generate and update plans that are grounded in the current environment. Experiments on the ALFRED dataset show that our method can achieve very competitive few-shot performance: Despite using less than 0.5% of paired training data, LLM-Planner achieves competitive performance with recent baselines that are trained using the full training data. Existing methods can barely complete any task successfully under the same few-shot setting. Our work opens the door for developing versatile and sample-efficient embodied agents that can quickly learn many tasks. Website: https://dki-lab.github.io/LLM-Planner

Training generalist agents is difficult across several axes, requiring us to deal with high-dimensional inputs (space), long horizons (time), and generalization to novel tasks. Recent advances with architectures have allowed for improved scaling along one or two of these axes, but are still computationally prohibitive to use. In this paper, we propose to address all three axes by leveraging Language to Control Diffusion models as a hierarchical planner conditioned on language (LCD). We effectively and efficiently scale diffusion models for planning in extended temporal, state, and task dimensions to tackle long horizon control problems conditioned on natural language instructions, as a step towards generalist agents. Comparing LCD with other state-of-the-art models on the CALVIN language robotics benchmark finds that LCD outperforms other SOTA methods in multi-task success rates, whilst improving inference speed over other comparable diffusion models by 3.3x~15x. We show that LCD can successfully leverage the unique strength of diffusion models to produce coherent long range plans while addressing their weakness in generating low-level details and control.

Vision-and-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Traditional approaches rely heavily on historical observations as spatio-temporal contexts for decision making, leading to significant storage and computational overhead. In this paper, we introduce MapNav, a novel end-to-end VLN model that leverages Annotated Semantic Map (ASM) to replace historical frames. Specifically, our approach constructs a top-down semantic map at the start of each episode and update it at each timestep, allowing for precise object mapping and structured navigation information. Then, we enhance this map with explicit textual labels for key regions, transforming abstract semantics into clear navigation cues and generate our ASM. MapNav agent using the constructed ASM as input, and use the powerful end-to-end capabilities of VLM to empower VLN. Extensive experiments demonstrate that MapNav achieves state-of-the-art (SOTA) performance in both simulated and real-world environments, validating the effectiveness of our method. Moreover, we will release our ASM generation source code and dataset to ensure reproducibility, contributing valuable resources to the field. We believe that our proposed MapNav can be used as a new memory representation method in VLN, paving the way for future research in this field.

Language-conditioned robotic manipulation represents a cutting-edge area of research, enabling seamless communication and cooperation between humans and robotic agents. This field focuses on teaching robotic systems to comprehend and execute instructions conveyed in natural language. To achieve this, the development of robust language understanding models capable of extracting actionable insights from textual input is essential. In this comprehensive survey, we systematically explore recent advancements in language-conditioned approaches within the context of robotic manipulation. We analyze these approaches based on their learning paradigms, which encompass reinforcement learning, imitation learning, and the integration of foundational models, such as large language models and vision-language models. Furthermore, we conduct an in-depth comparative analysis, considering aspects like semantic information extraction, environment & evaluation, auxiliary tasks, and task representation. Finally, we outline potential future research directions in the realm of language-conditioned learning for robotic manipulation, with the topic of generalization capabilities and safety issues. The GitHub repository of this paper can be found at https://github.com/hk-zh/language-conditioned-robot-manipulation-models

Motivated by the substantial achievements observed in Large Language Models (LLMs) in the field of natural language processing, recent research has commenced investigations into the application of LLMs for complex, long-horizon sequential task planning challenges in robotics. LLMs are advantageous in offering the potential to enhance the generalizability as task-agnostic planners and facilitate flexible interaction between human instructors and planning systems. However, task plans generated by LLMs often lack feasibility and correctness. To address this challenge, we introduce ISR-LLM, a novel framework that improves LLM-based planning through an iterative self-refinement process. The framework operates through three sequential steps: preprocessing, planning, and iterative self-refinement. During preprocessing, an LLM translator is employed to convert natural language input into a Planning Domain Definition Language (PDDL) formulation. In the planning phase, an LLM planner formulates an initial plan, which is then assessed and refined in the iterative self-refinement step by using a validator. We examine the performance of ISR-LLM across three distinct planning domains. The results show that ISR-LLM is able to achieve markedly higher success rates in task accomplishments compared to state-of-the-art LLM-based planners. Moreover, it also preserves the broad applicability and generalizability of working with natural language instructions.

Deep Learning has revolutionized our ability to solve complex problems such as Vision-and-Language Navigation (VLN). This task requires the agent to navigate to a goal purely based on visual sensory inputs given natural language instructions. However, prior works formulate the problem as a navigation graph with a discrete action space. In this work, we lift the agent off the navigation graph and propose a more complex VLN setting in continuous 3D reconstructed environments. Our proposed setting, Robo-VLN, more closely mimics the challenges of real world navigation. Robo-VLN tasks have longer trajectory lengths, continuous action spaces, and challenges such as obstacles. We provide a suite of baselines inspired by state-of-the-art works in discrete VLN and show that they are less effective at this task. We further propose that decomposing the task into specialized high- and low-level policies can more effectively tackle this task. With extensive experiments, we show that by using layered decision making, modularized training, and decoupling reasoning and imitation, our proposed Hierarchical Cross-Modal (HCM) agent outperforms existing baselines in all key metrics and sets a new benchmark for Robo-VLN.

Large language models (LLMs) are primarily accessed via commercial APIs, but this often requires users to expose their data to service providers. In this paper, we explore how users can stay in control of their data by using privacy profiles: simple natural language instructions that say what should and should not be revealed. We build a framework where a local model uses these instructions to rewrite queries, only hiding details deemed sensitive by the user, before sending them to an external model, thus balancing privacy with performance. To support this research, we introduce PEEP, a multilingual dataset of real user queries annotated to mark private content and paired with synthetic privacy profiles. Our experiments with lightweight LLMs show they can follow these instructions to some extent, but also face consistent challenges, highlighting the need for models that better understand and comply with user-defined privacy preferences.

It is a long-lasting goal to design a generalist-embodied agent that can follow diverse instructions in human-like ways. However, existing approaches often fail to steadily follow instructions due to difficulties in understanding abstract and sequential natural language instructions. To this end, we introduce MineDreamer, an open-ended embodied agent built upon the challenging Minecraft simulator with an innovative paradigm that enhances instruction-following ability in low-level control signal generation. Specifically, MineDreamer is developed on top of recent advances in Multimodal Large Language Models (MLLMs) and diffusion models, and we employ a Chain-of-Imagination (CoI) mechanism to envision the step-by-step process of executing instructions and translating imaginations into more precise visual prompts tailored to the current state; subsequently, the agent generates keyboard-and-mouse actions to efficiently achieve these imaginations, steadily following the instructions at each step. Extensive experiments demonstrate that MineDreamer follows single and multi-step instructions steadily, significantly outperforming the best generalist agent baseline and nearly doubling its performance. Moreover, qualitative analysis of the agent's imaginative ability reveals its generalization and comprehension of the open world.

Robotic manipulation is often challenging due to the long-horizon tasks and the complex object relationships. A common solution is to develop a task and motion planning framework that integrates planning for high-level task and low-level motion. Recently, inspired by the powerful reasoning ability of Large Language Models (LLMs), LLM-based planning approaches have achieved remarkable progress. However, these methods still heavily rely on expert-specific knowledge, often generating invalid plans for unseen and unfamiliar tasks. To address this issue, we propose an innovative language-guided symbolic task planning (LM-SymOpt) framework with optimization. It is the first expert-free planning framework since we combine the world knowledge from LLMs with formal reasoning, resulting in improved generalization capability to new tasks. Specifically, differ to most existing work, our LM-SymOpt employs LLMs to translate natural language instructions into symbolic representations, thereby representing actions as high-level symbols and reducing the search space for planning. Next, after evaluating the action probability of completing the task using LLMs, a weighted random sampling method is introduced to generate candidate plans. Their feasibility is assessed through symbolic reasoning and their cost efficiency is then evaluated using trajectory optimization for selecting the optimal planning. Our experimental results show that LM-SymOpt outperforms existing LLM-based planning approaches.

While the integration of Multi-modal Large Language Models (MLLMs) with robotic systems has significantly improved robots' ability to understand and execute natural language instructions, their performance in manipulation tasks remains limited due to a lack of robotics-specific knowledge. Conventional MLLMs are typically trained on generic image-text pairs, leaving them deficient in understanding affordances and physical concepts crucial for manipulation. To address this gap, we propose ManipVQA, a novel framework that infuses MLLMs with manipulation-centric knowledge through a Visual Question-Answering (VQA) format. This approach encompasses tool detection, affordance recognition, and a broader understanding of physical concepts. We curated a diverse dataset of images depicting interactive objects, to challenge robotic understanding in tool detection, affordance prediction, and physical concept comprehension. To effectively integrate this robotics-specific knowledge with the inherent vision-reasoning capabilities of MLLMs, we leverage a unified VQA format and devise a fine-tuning strategy. This strategy preserves the original vision-reasoning abilities while incorporating the newly acquired robotic insights. Empirical evaluations conducted in robotic simulators and across various vision task benchmarks demonstrate the robust performance of ManipVQA. The code and dataset are publicly available at https://github.com/SiyuanHuang95/ManipVQA.

Large language models (LLMs) pretrained on vast source code have achieved prominent progress in code intelligence. However, existing code LLMs have two main limitations in terms of architecture and pretraining tasks. First, they often adopt a specific architecture (encoder-only or decoder-only) or rely on a unified encoder-decoder network for different downstream tasks. The former paradigm is limited by inflexibility in applications while in the latter, the model is treated as a single system for all tasks, leading to suboptimal performance on a subset of tasks. Secondly, they often employ a limited set of pretraining objectives which might not be relevant to some downstream tasks and hence result in substantial performance degrade. To address these limitations, we propose ``CodeT5+'', a family of encoder-decoder LLMs for code in which component modules can be flexibly combined to suit a wide range of downstream code tasks. Such flexibility is enabled by our proposed mixture of pretraining objectives to mitigate the pretrain-finetune discrepancy. These objectives cover span denoising, contrastive learning, text-code matching, and causal LM pretraining tasks, on both unimodal and bimodal multilingual code corpora. Furthermore, we propose to initialize CodeT5+ with frozen off-the-shelf LLMs without training from scratch to efficiently scale up our models, and explore instruction-tuning to align with natural language instructions. We extensively evaluate CodeT5+ on over 20 code-related benchmarks in different settings, including zero-shot, finetuning, and instruction-tuning. We observe state-of-the-art (SoTA) model performance on various code-related tasks, such as code generation and completion, math programming, and text-to-code retrieval tasks. Particularly, our instruction-tuned CodeT5+ 16B achieves new SoTA results on HumanEval code generation task against other open code LLMs.

Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the progress, most still rely on pre-defined motion primitives to carry out the physical interactions with the environment, which remains a major bottleneck. In this work, we aim to synthesize robot trajectories, i.e., a dense sequence of 6-DoF end-effector waypoints, for a large variety of manipulation tasks given an open-set of instructions and an open-set of objects. We achieve this by first observing that LLMs excel at inferring affordances and constraints given a free-form language instruction. More importantly, by leveraging their code-writing capabilities, they can interact with a visual-language model (VLM) to compose 3D value maps to ground the knowledge into the observation space of the agent. The composed value maps are then used in a model-based planning framework to zero-shot synthesize closed-loop robot trajectories with robustness to dynamic perturbations. We further demonstrate how the proposed framework can benefit from online experiences by efficiently learning a dynamics model for scenes that involve contact-rich interactions. We present a large-scale study of the proposed method in both simulated and real-robot environments, showcasing the ability to perform a large variety of everyday manipulation tasks specified in free-form natural language. Project website: https://voxposer.github.io

Large language models (LLMs) have shown remarkable abilities in different fields, including standard Natural Language Processing (NLP) tasks. To elicit knowledge from LLMs, prompts play a key role, consisting of natural language instructions. Most open and closed source LLMs are trained on available labeled and unlabeled resources--digital content such as text, images, audio, and videos. Hence, these models have better knowledge for high-resourced languages but struggle with low-resourced languages. Since prompts play a crucial role in understanding their capabilities, the language used for prompts remains an important research question. Although there has been significant research in this area, it is still limited, and less has been explored for medium to low-resourced languages. In this study, we investigate different prompting strategies (native vs. non-native) on 11 different NLP tasks associated with 12 different Arabic datasets (9.7K data points). In total, we conducted 197 experiments involving 3 LLMs, 12 datasets, and 3 prompting strategies. Our findings suggest that, on average, the non-native prompt performs the best, followed by mixed and native prompts.

This paper introduces GLLM, an innovative tool that leverages Large Language Models (LLMs) to automatically generate G-code from natural language instructions for Computer Numerical Control (CNC) machining. GLLM addresses the challenges of manual G-code writing by bridging the gap between human-readable task descriptions and machine-executable code. The system incorporates a fine-tuned StarCoder-3B model, enhanced with domain-specific training data and a Retrieval-Augmented Generation (RAG) mechanism. GLLM employs advanced prompting strategies and a novel self-corrective code generation approach to ensure both syntactic and semantic correctness of the generated G-code. The architecture includes robust validation mechanisms, including syntax checks, G-code-specific verifications, and functional correctness evaluations using Hausdorff distance. By combining these techniques, GLLM aims to democratize CNC programming, making it more accessible to users without extensive programming experience while maintaining high accuracy and reliability in G-code generation.

General-purposed embodied agents are designed to understand the users' natural instructions or intentions and act precisely to complete universal tasks. Recently, methods based on foundation models especially Vision-Language-Action models (VLAs) have shown a substantial potential to solve language-conditioned manipulation (LCM) tasks well. However, existing benchmarks do not adequately meet the needs of VLAs and relative algorithms. To better define such general-purpose tasks in the context of LLMs and advance the research in VLAs, we present VLABench, an open-source benchmark for evaluating universal LCM task learning. VLABench provides 100 carefully designed categories of tasks, with strong randomization in each category of task and a total of 2000+ objects. VLABench stands out from previous benchmarks in four key aspects: 1) tasks requiring world knowledge and common sense transfer, 2) natural language instructions with implicit human intentions rather than templates, 3) long-horizon tasks demanding multi-step reasoning, and 4) evaluation of both action policies and language model capabilities. The benchmark assesses multiple competencies including understanding of mesh\&texture, spatial relationship, semantic instruction, physical laws, knowledge transfer and reasoning, etc. To support the downstream finetuning, we provide high-quality training data collected via an automated framework incorporating heuristic skills and prior information. The experimental results indicate that both the current state-of-the-art pretrained VLAs and the workflow based on VLMs face challenges in our tasks.

Instruction-tuned large language models have shown remarkable performance in aligning generated text with user intentions across various tasks. However, maintaining human-like discourse structure in the generated text remains a challenging research question. In this paper, we propose Instruct-SCTG, a flexible and effective sequential framework that harnesses instruction-tuned language models to generate structurally coherent text in both fine-tuned and zero-shot setups. Our framework generates articles in a section-by-section manner, aligned with the desired human structure using natural language instructions. Furthermore, we introduce a new automatic metric that measures discourse divergence in a fuzzy manner. Extensive experiments on three datasets from representative domains of news and recipes demonstrate the state-of-the-art performance of our framework in imposing discourse structure during text generation, as verified by both automatic and human evaluation. Our code will be available on Github.

When humans cooperate, they frequently coordinate their activity through both verbal communication and non-verbal actions, using this information to infer a shared goal and plan. How can we model this inferential ability? In this paper, we introduce a model of a cooperative team where one agent, the principal, may communicate natural language instructions about their shared plan to another agent, the assistant, using GPT-3 as a likelihood function for instruction utterances. We then show how a third person observer can infer the team's goal via multi-modal Bayesian inverse planning from actions and instructions, computing the posterior distribution over goals under the assumption that agents will act and communicate rationally to achieve them. We evaluate this approach by comparing it with human goal inferences in a multi-agent gridworld, finding that our model's inferences closely correlate with human judgments (R = 0.96). When compared to inference from actions alone, we also find that instructions lead to more rapid and less uncertain goal inference, highlighting the importance of verbal communication for cooperative agents.

Large language and vision models (LLVMs) have been driven by the generalization power of large language models (LLMs) and the advent of visual instruction tuning. Along with scaling them up directly, these models enable LLVMs to showcase powerful vision language (VL) performances by covering diverse tasks via natural language instructions. However, existing open-source LLVMs that perform comparably to closed-source LLVMs such as GPT-4V are often considered too large (e.g., 26B, 34B, and 110B parameters), having a larger number of layers. These large models demand costly, high-end resources for both training and inference. To address this issue, we present a new efficient LLVM family with 1.8B, 3.8B, and 7B LLM model sizes, Traversal of Layers (TroL), which enables the reuse of layers in a token-wise manner. This layer traversing technique simulates the effect of looking back and retracing the answering stream while increasing the number of forward propagation layers without physically adding more layers. We demonstrate that TroL employs a simple layer traversing approach yet efficiently outperforms the open-source LLVMs with larger model sizes and rivals the performances of the closed-source LLVMs with substantial sizes.

While end-to-end video-to-audio generation has greatly improved, producing high-fidelity audio that authentically captures the nuances of visual content remains challenging. Like professionals in the creative industries, such generation requires sophisticated reasoning about items such as visual dynamics, acoustic environments, and temporal relationships. We present ThinkSound, a novel framework that leverages Chain-of-Thought (CoT) reasoning to enable stepwise, interactive audio generation and editing for videos. Our approach decomposes the process into three complementary stages: foundational foley generation that creates semantically coherent soundscapes, interactive object-centric refinement through precise user interactions, and targeted editing guided by natural language instructions. At each stage, a multimodal large language model generates contextually aligned CoT reasoning that guides a unified audio foundation model. Furthermore, we introduce AudioCoT, a comprehensive dataset with structured reasoning annotations that establishes connections between visual content, textual descriptions, and sound synthesis. Experiments demonstrate that ThinkSound achieves state-of-the-art performance in video-to-audio generation across both audio metrics and CoT metrics and excels in out-of-distribution Movie Gen Audio benchmark. The demo page is available at https://ThinkSound-Project.github.io.

Large Language Models (LLMs) have demonstrated promising reasoning capabilities in robotics; however, their application in multi-robot systems remains limited, particularly in handling task dependencies. This paper introduces DART-LLM, a novel framework that employs Directed Acyclic Graphs (DAGs) to model task dependencies, enabling the decomposition of natural language instructions into well-coordinated subtasks for multi-robot execution. DART-LLM comprises four key components: a Question-Answering (QA) LLM module for dependency-aware task decomposition, a Breakdown Function module for robot assignment, an Actuation module for execution, and a Vision-Language Model (VLM)-based object detector for environmental perception, achieving end-to-end task execution. Experimental results across three task complexity levels demonstrate that DART-LLM achieves state-of-the-art performance, significantly outperforming the baseline across all evaluation metrics. Among the tested models, DeepSeek-r1-671B achieves the highest success rate, whereas Llama-3.1-8B exhibits superior response time reliability. Ablation studies further confirm that explicit dependency modeling notably enhances the performance of smaller models, facilitating efficient deployment on resource-constrained platforms. Please refer to the project website https://wyd0817.github.io/project-dart-llm/ for videos and code.

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an image, this makes for an unnatural interface. Language provides a more convenient modality for communication with robots, but contemporary methods typically require expensive supervision, in the form of trajectories annotated with language descriptions. We present a system, LM-Nav, for robotic navigation that enjoys the benefits of training on unannotated large datasets of trajectories, while still providing a high-level interface to the user. Instead of utilizing a labeled instruction following dataset, we show that such a system can be constructed entirely out of pre-trained models for navigation (ViNG), image-language association (CLIP), and language modeling (GPT-3), without requiring any fine-tuning or language-annotated robot data. We instantiate LM-Nav on a real-world mobile robot and demonstrate long-horizon navigation through complex, outdoor environments from natural language instructions. For videos of our experiments, code release, and an interactive Colab notebook that runs in your browser, please check out our project page https://sites.google.com/view/lmnav

This paper presents a novel approach for the Vision-and-Language Navigation (VLN) task in continuous 3D environments, which requires an autonomous agent to follow natural language instructions in unseen environments. Existing end-to-end learning-based VLN methods struggle at this task as they focus mostly on utilizing raw visual observations and lack the semantic spatio-temporal reasoning capabilities which is crucial in generalizing to new environments. In this regard, we present a hybrid transformer-recurrence model which focuses on combining classical semantic mapping techniques with a learning-based method. Our method creates a temporal semantic memory by building a top-down local ego-centric semantic map and performs cross-modal grounding to align map and language modalities to enable effective learning of VLN policy. Empirical results in a photo-realistic long-horizon simulation environment show that the proposed approach outperforms a variety of state-of-the-art methods and baselines with over 22% relative improvement in SPL in prior unseen environments.

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/.

Although natural language instructions offer an intuitive way to guide automated image editing, deep-learning models often struggle to achieve high-quality results, largely due to challenges in creating large, high-quality training datasets. Previous work has typically relied on text-toimage (T2I) generative models to produce pairs of original and edited images that simulate the input/output of an instruction-guided image-editing model. However, these image pairs often fail to align with the specified edit instructions due to the limitations of T2I models, which negatively impacts models trained on such datasets. To address this, we present Instruct-CLIP, a self-supervised method that learns the semantic changes between original and edited images to refine and better align the instructions in existing datasets. Furthermore, we adapt Instruct-CLIP to handle noisy latent images and diffusion timesteps so that it can be used to train latent diffusion models (LDMs) [19] and efficiently enforce alignment between the edit instruction and the image changes in latent space at any step of the diffusion pipeline. We use Instruct-CLIP to correct the InstructPix2Pix dataset and get over 120K refined samples we then use to fine-tune their model, guided by our novel Instruct-CLIP-based loss function. The resulting model can produce edits that are more aligned with the given instructions. Our code and dataset are available at https://github.com/SherryXTChen/Instruct-CLIP.git.

Comprehending natural language instructions is a charming property for both 2D and 3D layout synthesis systems. Existing methods implicitly model object joint distributions and express object relations, hindering generation's controllability. We introduce InstructLayout, a novel generative framework that integrates a semantic graph prior and a layout decoder to improve controllability and fidelity for 2D and 3D layout synthesis. The proposed semantic graph prior learns layout appearances and object distributions simultaneously, demonstrating versatility across various downstream tasks in a zero-shot manner. To facilitate the benchmarking for text-driven 2D and 3D scene synthesis, we respectively curate two high-quality datasets of layout-instruction pairs from public Internet resources with large language and multimodal models. Extensive experimental results reveal that the proposed method outperforms existing state-of-the-art approaches by a large margin in both 2D and 3D layout synthesis tasks. Thorough ablation studies confirm the efficacy of crucial design components.

Comprehending natural language instructions is a charming property for 3D indoor scene synthesis systems. Existing methods directly model object joint distributions and express object relations implicitly within a scene, thereby hindering the controllability of generation. We introduce InstructScene, a novel generative framework that integrates a semantic graph prior and a layout decoder to improve controllability and fidelity for 3D scene synthesis. The proposed semantic graph prior jointly learns scene appearances and layout distributions, exhibiting versatility across various downstream tasks in a zero-shot manner. To facilitate the benchmarking for text-driven 3D scene synthesis, we curate a high-quality dataset of scene-instruction pairs with large language and multimodal models. Extensive experimental results reveal that the proposed method surpasses existing state-of-the-art approaches by a large margin. Thorough ablation studies confirm the efficacy of crucial design components. Project page: https://chenguolin.github.io/projects/InstructScene.

Pre-trained text-to-image generative models can produce diverse, semantically rich, and realistic images from natural language descriptions. Compared with language, images usually convey information with more details and less ambiguity. In this study, we propose Learning from the Void (LfVoid), a method that leverages the power of pre-trained text-to-image models and advanced image editing techniques to guide robot learning. Given natural language instructions, LfVoid can edit the original observations to obtain goal images, such as "wiping" a stain off a table. Subsequently, LfVoid trains an ensembled goal discriminator on the generated image to provide reward signals for a reinforcement learning agent, guiding it to achieve the goal. The ability of LfVoid to learn with zero in-domain training on expert demonstrations or true goal observations (the void) is attributed to the utilization of knowledge from web-scale generative models. We evaluate LfVoid across three simulated tasks and validate its feasibility in the corresponding real-world scenarios. In addition, we offer insights into the key considerations for the effective integration of visual generative models into robot learning workflows. We posit that our work represents an initial step towards the broader application of pre-trained visual generative models in the robotics field. Our project page: https://lfvoid-rl.github.io/.

Large language models excel at interpreting complex natural language instructions, enabling them to perform a wide range of tasks. In the life sciences, single-cell RNA sequencing (scRNA-seq) data serves as the "language of cellular biology", capturing intricate gene expression patterns at the single-cell level. However, interacting with this "language" through conventional tools is often inefficient and unintuitive, posing challenges for researchers. To address these limitations, we present InstructCell, a multi-modal AI copilot that leverages natural language as a medium for more direct and flexible single-cell analysis. We construct a comprehensive multi-modal instruction dataset that pairs text-based instructions with scRNA-seq profiles from diverse tissues and species. Building on this, we develop a multi-modal cell language architecture capable of simultaneously interpreting and processing both modalities. InstructCell empowers researchers to accomplish critical tasks-such as cell type annotation, conditional pseudo-cell generation, and drug sensitivity prediction-using straightforward natural language commands. Extensive evaluations demonstrate that InstructCell consistently meets or exceeds the performance of existing single-cell foundation models, while adapting to diverse experimental conditions. More importantly, InstructCell provides an accessible and intuitive tool for exploring complex single-cell data, lowering technical barriers and enabling deeper biological insights.

Editing images using natural language instructions has become a natural and expressive way to modify visual content; yet, evaluating the performance of such models remains challenging. Existing evaluation approaches often rely on image-text similarity metrics like CLIP, which lack precision. In this work, we introduce a new benchmark designed to evaluate text-guided image editing models in a more grounded manner, along two critical dimensions: (i) functional correctness, assessed via automatically generated multiple-choice questions that verify whether the intended change was successfully applied; and (ii) image content preservation, which ensures that non-targeted regions of the image remain visually consistent using an object-aware masking technique and preservation scoring. The benchmark includes over 1000 high-quality editing examples across 20 diverse content categories, each annotated with detailed editing instructions, evaluation questions, and spatial object masks. We conduct a large-scale study comparing GPT-Image-1, the latest flagship in the text-guided image editing space, against several state-of-the-art editing models, and validate our automatic metrics against human ratings. Results show that GPT-Image-1 leads in instruction-following accuracy, but often over-modifies irrelevant image regions, highlighting a key trade-off in the current model behavior. GIE-Bench provides a scalable, reproducible framework for advancing more accurate evaluation of text-guided image editing.

Recently, researchers have proposed powerful systems for generating and manipulating images using natural language instructions. However, it is difficult to precisely specify many common classes of image transformations with text alone. For example, a user may wish to change the location and breed of a particular dog in an image with several similar dogs. This task is quite difficult with natural language alone, and would require a user to write a laboriously complex prompt that both disambiguates the target dog and describes the destination. We propose ClickDiffusion, a system for precise image manipulation and generation that combines natural language instructions with visual feedback provided by the user through a direct manipulation interface. We demonstrate that by serializing both an image and a multi-modal instruction into a textual representation it is possible to leverage LLMs to perform precise transformations of the layout and appearance of an image. Code available at https://github.com/poloclub/ClickDiffusion.

Graphical User Interface (GUI) grounding maps natural language instructions to precise interface locations for autonomous interaction. Current reinforcement learning approaches use binary rewards that treat elements as hit-or-miss targets, creating sparse signals that ignore the continuous nature of spatial interactions. Motivated by human clicking behavior that naturally forms Gaussian distributions centered on target elements, we introduce GUI Gaussian Grounding Rewards (GUI-G^2), a principled reward framework that models GUI elements as continuous Gaussian distributions across the interface plane. GUI-G^2 incorporates two synergistic mechanisms: Gaussian point rewards model precise localization through exponentially decaying distributions centered on element centroids, while coverage rewards assess spatial alignment by measuring the overlap between predicted Gaussian distributions and target regions. To handle diverse element scales, we develop an adaptive variance mechanism that calibrates reward distributions based on element dimensions. This framework transforms GUI grounding from sparse binary classification to dense continuous optimization, where Gaussian distributions generate rich gradient signals that guide models toward optimal interaction positions. Extensive experiments across ScreenSpot, ScreenSpot-v2, and ScreenSpot-Pro benchmarks demonstrate that GUI-G^2, substantially outperforms state-of-the-art method UI-TARS-72B, with the most significant improvement of 24.7% on ScreenSpot-Pro. Our analysis reveals that continuous modeling provides superior robustness to interface variations and enhanced generalization to unseen layouts, establishing a new paradigm for spatial reasoning in GUI interaction tasks.

While recent AI-for-math has made strides in pure mathematics, areas of applied mathematics, particularly PDEs, remain underexplored despite their significant real-world applications. We present PDE-Controller, a framework that enables large language models (LLMs) to control systems governed by partial differential equations (PDEs). Our approach enables LLMs to transform informal natural language instructions into formal specifications, and then execute reasoning and planning steps to improve the utility of PDE control. We build a holistic solution comprising datasets (both human-written cases and 2 million synthetic samples), math-reasoning models, and novel evaluation metrics, all of which require significant effort. Our PDE-Controller significantly outperforms prompting the latest open-source and GPT models in reasoning, autoformalization, and program synthesis, achieving up to a 62% improvement in utility gain for PDE control. By bridging the gap between language generation and PDE systems, we demonstrate the potential of LLMs in addressing complex scientific and engineering challenges. We will release all data, model checkpoints, and code at https://pde-controller.github.io/.

We introduce ScanBot, a novel dataset designed for instruction-conditioned, high-precision surface scanning in robotic systems. In contrast to existing robot learning datasets that focus on coarse tasks such as grasping, navigation, or dialogue, ScanBot targets the high-precision demands of industrial laser scanning, where sub-millimeter path continuity and parameter stability are critical. The dataset covers laser scanning trajectories executed by a robot across 12 diverse objects and 6 task types, including full-surface scans, geometry-focused regions, spatially referenced parts, functionally relevant structures, defect inspection, and comparative analysis. Each scan is guided by natural language instructions and paired with synchronized RGB, depth, and laser profiles, as well as robot pose and joint states. Despite recent progress, existing vision-language action (VLA) models still fail to generate stable scanning trajectories under fine-grained instructions and real-world precision demands. To investigate this limitation, we benchmark a range of multimodal large language models (MLLMs) across the full perception-planning-execution loop, revealing persistent challenges in instruction-following under realistic constraints.

The Instruction-Driven Game Engine (IDGE) project aims to democratize game development by enabling a large language model (LLM) to follow free-form game descriptions and generate game-play processes. The IDGE allows users to create games simply by natural language instructions, which significantly lowers the barrier for game development. We approach the learning process for IDGEs as a Next State Prediction task, wherein the model autoregressively predicts the game states given player actions. The computation of game states must be precise; otherwise, slight errors could corrupt the game-play experience. This is challenging because of the gap between stability and diversity. To address this, we train the IDGE in a curriculum manner that progressively increases its exposure to complex scenarios. Our initial progress lies in developing an IDGE for Poker, which not only supports a wide range of poker variants but also allows for highly individualized new poker games through natural language inputs. This work lays the groundwork for future advancements in transforming how games are created and played.

LLMs demonstrate remarkable capabilities in following natural language instructions, largely due to instruction-tuning on high-quality datasets. While synthetic data generation has emerged as a scalable approach for creating such datasets, maintaining consistent quality standards remains challenging. Recent approaches incorporate feedback to improve data quality, but typically operate at the sample level, generating and applying feedback for each response individually. In this work, we propose Reference-Level Feedback, a novel methodology that instead collects feedback based on high-quality reference samples from carefully curated seed data. We use this feedback to capture rich signals of desirable characteristics and propagate it throughout the data synthesis process. We present REFED, a dataset of 10K instruction-response pairs synthesized using such feedback. We demonstrate the effectiveness of our approach by showing that Llama-3.1-8B-Instruct finetuned on REFED achieves state-of-the-art performance among similar-sized SFT-based models on AlpacaEval 2.0 and strong results on Arena-Hard. Through extensive experiments, we show that our approach consistently outperforms traditional sample-level feedback methods with significantly fewer feedback collections and improves performance across different model architectures.

This paper demonstrates how OpenAI's ChatGPT can be used in a few-shot setting to convert natural language instructions into a sequence of executable robot actions. The paper proposes easy-to-customize input prompts for ChatGPT that meet common requirements in practical applications, such as easy integration with robot execution systems and applicability to various environments while minimizing the impact of ChatGPT's token limit. The prompts encourage ChatGPT to output a sequence of predefined robot actions, represent the operating environment in a formalized style, and infer the updated state of the operating environment. Experiments confirmed that the proposed prompts enable ChatGPT to act according to requirements in various environments, and users can adjust ChatGPT's output with natural language feedback for safe and robust operation. The proposed prompts and source code are open-source and publicly available at https://github.com/microsoft/ChatGPT-Robot-Manipulation-Prompts

The ability of large language models (LLMs) to follow natural language instructions with human-level fluency suggests many opportunities in healthcare to reduce administrative burden and improve quality of care. However, evaluating LLMs on realistic text generation tasks for healthcare remains challenging. Existing question answering datasets for electronic health record (EHR) data fail to capture the complexity of information needs and documentation burdens experienced by clinicians. To address these challenges, we introduce MedAlign, a benchmark dataset of 983 natural language instructions for EHR data. MedAlign is curated by 15 clinicians (7 specialities), includes clinician-written reference responses for 303 instructions, and provides 276 longitudinal EHRs for grounding instruction-response pairs. We used MedAlign to evaluate 6 general domain LLMs, having clinicians rank the accuracy and quality of each LLM response. We found high error rates, ranging from 35% (GPT-4) to 68% (MPT-7B-Instruct), and an 8.3% drop in accuracy moving from 32k to 2k context lengths for GPT-4. Finally, we report correlations between clinician rankings and automated natural language generation metrics as a way to rank LLMs without human review. We make MedAlign available under a research data use agreement to enable LLM evaluations on tasks aligned with clinician needs and preferences.

Recently, the advent of pre-trained large-scale language models (LLMs) like ChatGPT and GPT-4 have significantly advanced the machine's natural language understanding capabilities. This breakthrough has allowed us to seamlessly integrate these open-source LLMs into a unified robot simulator environment to help robots accurately understand and execute human natural language instructions. To this end, in this work, we introduce a realistic robotic manipulation simulator and build a Robotic Manipulation with Progressive Reasoning Tasks (RM-PRT) benchmark on this basis. Specifically, the RM-PRT benchmark builds a new high-fidelity digital twin scene based on Unreal Engine 5, which includes 782 categories, 2023 objects, and 15K natural language instructions generated by ChatGPT for a detailed evaluation of robot manipulation. We propose a general pipeline for the RM-PRT benchmark that takes as input multimodal prompts containing natural language instructions and automatically outputs actions containing the movement and position transitions. We set four natural language understanding tasks with progressive reasoning levels and evaluate the robot's ability to understand natural language instructions in two modes of adsorption and grasping. In addition, we also conduct a comprehensive analysis and comparison of the differences and advantages of 10 different LLMs in instruction understanding and generation quality. We hope the new simulator and benchmark will facilitate future research on language-guided robotic manipulation. Project website: https://necolizer.github.io/RM-PRT/ .

Vision-Language-Action (VLA) models have recently advanced robotic manipulation by translating natural-language instructions and image information into sequential control actions. However, these models often underperform in open-world scenarios, as they are predominantly trained on successful expert demonstrations and exhibit a limited capacity for failure recovery. In this work, we present a Robotic Failure Analysis and Correction (RoboFAC) framework to address this issue. Firstly, we construct RoboFAC dataset comprising 9,440 erroneous manipulation trajectories and 78,623 QA pairs across 16 diverse tasks and 53 scenes in both simulation and real-world environments. Leveraging our dataset, we develop RoboFAC model, which is capable of Task Understanding, Failure Analysis and Failure Correction. Experimental results demonstrate that the RoboFAC model outperforms GPT-4o by 34.1% on our evaluation benchmark. Furthermore, we integrate the RoboFAC model into a real-world VLA control pipeline as an external supervision providing correction instructions, yielding a 29.1% relative improvement on average on four real-world tasks. The results show that our RoboFAC framework effectively handles robotic failures and assists the VLA model in recovering from failures.

The adeptness of Large Language Models (LLMs) in comprehending and following natural language instructions is critical for their deployment in sophisticated real-world applications. Existing evaluations mainly focus on fragmented constraints or narrow scenarios, but they overlook the comprehensiveness and authenticity of constraints from the user's perspective. To bridge this gap, we propose CFBench, a large-scale Comprehensive Constraints Following Benchmark for LLMs, featuring 1,000 curated samples that cover more than 200 real-life scenarios and over 50 NLP tasks. CFBench meticulously compiles constraints from real-world instructions and constructs an innovative systematic framework for constraint types, which includes 10 primary categories and over 25 subcategories, and ensures each constraint is seamlessly integrated within the instructions. To make certain that the evaluation of LLM outputs aligns with user perceptions, we propose an advanced methodology that integrates multi-dimensional assessment criteria with requirement prioritization, covering various perspectives of constraints, instructions, and requirement fulfillment. Evaluating current leading LLMs on CFBench reveals substantial room for improvement in constraints following, and we further investigate influencing factors and enhancement strategies. The data and code are publicly available at https://github.com/PKU-Baichuan-MLSystemLab/CFBench

Recent work in training large language models (LLMs) to follow natural language instructions has opened up exciting opportunities for natural language interface design. Building on the prior success of LLMs in the realm of computer-assisted creativity, we aim to study if LLMs can improve the quality of user-generated content through collaboration. We present CoPoet, a collaborative poetry writing system. In contrast to auto-completing a user's text, CoPoet is controlled by user instructions that specify the attributes of the desired text, such as Write a sentence about `love' or Write a sentence ending in `fly'. The core component of our system is a language model fine-tuned on a diverse collection of instructions for poetry writing. Our model is not only competitive with publicly available LLMs trained on instructions (InstructGPT), but is also capable of satisfying unseen compositional instructions. A study with 15 qualified crowdworkers shows that users successfully write poems with CoPoet on diverse topics ranging from Monarchy to Climate change. Further, the collaboratively written poems are preferred by third-party evaluators over those written without the system.

Recent advances in generative modeling enable image editing assistants that follow natural language instructions without additional user input. Their supervised training requires millions of triplets: original image, instruction, edited image. Yet mining pixel-accurate examples is hard. Each edit must affect only prompt-specified regions, preserve stylistic coherence, respect physical plausibility, and retain visual appeal. The lack of robust automated edit-quality metrics hinders reliable automation at scale. We present an automated, modular pipeline that mines high-fidelity triplets across domains, resolutions, instruction complexities, and styles. Built on public generative models and running without human intervention, our system uses a task-tuned Gemini validator to score instruction adherence and aesthetics directly, removing any need for segmentation or grounding models. Inversion and compositional bootstrapping enlarge the mined set by approximately 2.2x, enabling large-scale high-fidelity training data. By automating the most repetitive annotation steps, the approach allows a new scale of training without human labeling effort. To democratize research in this resource-intensive area, we release NHR-Edit: an open dataset of 358k high-quality triplets. In the largest cross-dataset evaluation, it surpasses all public alternatives. We also release Bagel-NHR-Edit, an open-source fine-tuned Bagel model, which achieves state-of-the-art metrics in our experiments.

This paper presents an experimental study regarding the use of OpenAI's ChatGPT for robotics applications. We outline a strategy that combines design principles for prompt engineering and the creation of a high-level function library which allows ChatGPT to adapt to different robotics tasks, simulators, and form factors. We focus our evaluations on the effectiveness of different prompt engineering techniques and dialog strategies towards the execution of various types of robotics tasks. We explore ChatGPT's ability to use free-form dialog, parse XML tags, and to synthesize code, in addition to the use of task-specific prompting functions and closed-loop reasoning through dialogues. Our study encompasses a range of tasks within the robotics domain, from basic logical, geometrical, and mathematical reasoning all the way to complex domains such as aerial navigation, manipulation, and embodied agents. We show that ChatGPT can be effective at solving several of such tasks, while allowing users to interact with it primarily via natural language instructions. In addition to these studies, we introduce an open-sourced research tool called PromptCraft, which contains a platform where researchers can collaboratively upload and vote on examples of good prompting schemes for robotics applications, as well as a sample robotics simulator with ChatGPT integration, making it easier for users to get started with using ChatGPT for robotics.

Embodied Everyday Task is a popular task in the embodied AI community, requiring agents to make a sequence of actions based on natural language instructions and visual observations. Traditional learning-based approaches face two challenges. Firstly, natural language instructions often lack explicit task planning. Secondly, extensive training is required to equip models with knowledge of the task environment. Previous works based on Large Language Model (LLM) either suffer from poor performance due to the lack of task-specific knowledge or rely on ground truth as few-shot samples. To address the above limitations, we propose a novel approach called Progressive Retrieval Augmented Generation (P-RAG), which not only effectively leverages the powerful language processing capabilities of LLMs but also progressively accumulates task-specific knowledge without ground-truth. Compared to the conventional RAG methods, which retrieve relevant information from the database in a one-shot manner to assist generation, P-RAG introduces an iterative approach to progressively update the database. In each iteration, P-RAG retrieves the latest database and obtains historical information from the previous interaction as experiential references for the current interaction. Moreover, we also introduce a more granular retrieval scheme that not only retrieves similar tasks but also incorporates retrieval of similar situations to provide more valuable reference experiences. Extensive experiments reveal that P-RAG achieves competitive results without utilizing ground truth and can even further improve performance through self-iterations.

LaTeX's precision and flexibility in typesetting have made it the gold standard for the preparation of scientific documentation. Large Language Models (LLMs) present a promising opportunity for researchers to produce publication-ready material using LaTeX with natural language instructions, yet current benchmarks completely lack evaluation of this ability. By introducing TeXpert, our benchmark dataset with natural language prompts for generating LaTeX code focused on components of scientific documents across multiple difficulty levels, we conduct an in-depth analysis of LLM performance in this regard and identify frequent error types. Our evaluation across open and closed-source LLMs highlights multiple key findings: LLMs excelling on standard benchmarks perform poorly in LaTeX generation with a significant accuracy drop-off as the complexity of tasks increases; open-source models like DeepSeek v3 and DeepSeek Coder strongly rival closed-source counterparts in LaTeX tasks; and formatting and package errors are unexpectedly prevalent, suggesting a lack of diverse LaTeX examples in the training datasets of most LLMs. Our dataset, code, and model evaluations are available at https://github.com/knowledge-verse-ai/TeXpert.

Computer-aided design (CAD) significantly enhances the efficiency, accuracy, and innovation of design processes by enabling precise 2D and 3D modeling, extensive analysis, and optimization. Existing methods for creating CAD models rely on latent vectors or point clouds, which are difficult to obtain and costly to store. Recent advances in Multimodal Large Language Models (MLLMs) have inspired researchers to use natural language instructions and images for CAD model construction. However, these models still struggle with inferring accurate 3D spatial location and orientation, leading to inaccuracies in determining the spatial 3D starting points and extrusion directions for constructing geometries. This work introduces CAD-GPT, a CAD synthesis method with spatial reasoning-enhanced MLLM that takes either a single image or a textual description as input. To achieve precise spatial inference, our approach introduces a 3D Modeling Spatial Mechanism. This method maps 3D spatial positions and 3D sketch plane rotation angles into a 1D linguistic feature space using a specialized spatial unfolding mechanism, while discretizing 2D sketch coordinates into an appropriate planar space to enable precise determination of spatial starting position, sketch orientation, and 2D sketch coordinate translations. Extensive experiments demonstrate that CAD-GPT consistently outperforms existing state-of-the-art methods in CAD model synthesis, both quantitatively and qualitatively.

This paper introduces the human-curated PandasPlotBench dataset, designed to evaluate language models' effectiveness as assistants in visual data exploration. Our benchmark focuses on generating code for visualizing tabular data - such as a Pandas DataFrame - based on natural language instructions, complementing current evaluation tools and expanding their scope. The dataset includes 175 unique tasks. Our experiments assess several leading Large Language Models (LLMs) across three visualization libraries: Matplotlib, Seaborn, and Plotly. We show that the shortening of tasks has a minimal effect on plotting capabilities, allowing for the user interface that accommodates concise user input without sacrificing functionality or accuracy. Another of our findings reveals that while LLMs perform well with popular libraries like Matplotlib and Seaborn, challenges persist with Plotly, highlighting areas for improvement. We hope that the modular design of our benchmark will broaden the current studies on generating visualizations. Our benchmark is available online: https://huggingface.co/datasets/JetBrains-Research/plot_bench. The code for running the benchmark is also available: https://github.com/JetBrains-Research/PandasPlotBench.

Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots confidently executing plans that are misaligned with user goals or even unsafe in critical scenarios. Additionally, inherent ambiguity in natural language instructions can introduce uncertainty into the LLM's reasoning and planning processes.We propose introspective planning, a systematic approach that align LLM's uncertainty with the inherent ambiguity of the task. Our approach constructs a knowledge base containing introspective reasoning examples as post-hoc rationalizations of human-selected safe and compliant plans, which are retrieved during deployment. Evaluations on three tasks, including a newly introduced safe mobile manipulation benchmark, demonstrate that introspection substantially improves both compliance and safety over state-of-the-art LLM-based planning methods. Furthermore, we empirically show that introspective planning, in combination with conformal prediction, achieves tighter confidence bounds, maintaining statistical success guarantees while minimizing unnecessary user clarification requests. The webpage and code are accessible at https://introplan.github.io.

Diffusion models have shown impressive performance in many domains, including image generation, time series prediction, and reinforcement learning. The algorithm demonstrates superior performance over the traditional GAN and transformer based methods. However, the model's capability to follow natural language instructions (e.g., spatial relationships between objects, generating complex scenes) is still unsatisfactory. This has been an important research area to enhance such capability. Prior works adopt reinforcement learning to adjust the behavior of the diffusion models. However, RL methods not only require careful reward design and complex hyperparameter tuning, but also fails to incorporate rich natural language feedback. In this work, we propose iterative prompt relabeling (IP-RLDF), a novel algorithm that aligns images to text through iterative image sampling and prompt relabeling. IP-RLDF first samples a batch of images conditioned on the text, then relabels the text prompts of unmatched text-image pairs with classifier feedback. We conduct thorough experiments on three different models, including SDv2, GLIGEN, and SDXL, testing their capability to generate images following instructions. With IP-RLDF, we improved up to 15.22% (absolute improvement) on the challenging spatial relation VISOR benchmark, demonstrating superior performance compared to previous RL methods.

Generating low-level robot task plans from high-level natural language instructions remains a challenging problem. Although large language models have shown promising results in generating plans, the accuracy of the output remains unverified. Furthermore, the lack of domain-specific language data poses a limitation on the applicability of these models. In this paper, we propose CLAIRIFY, a novel approach that combines automatic iterative prompting with program verification to ensure programs written in data-scarce domain-specific language are syntactically valid and incorporate environment constraints. Our approach provides effective guidance to the language model on generating structured-like task plans by incorporating any errors as feedback, while the verifier ensures the syntactic accuracy of the generated plans. We demonstrate the effectiveness of CLAIRIFY in planning chemistry experiments by achieving state-of-the-art results. We also show that the generated plans can be executed on a real robot by integrating them with a task and motion planner.

Instruction tuning is an emergent paradigm in NLP wherein natural language instructions are leveraged with language models to induce zero-shot performance on unseen tasks. Instructions have been shown to enable good performance on unseen tasks and datasets in both large and small language models. Dialogue is an especially interesting area to explore instruction tuning because dialogue systems perform multiple kinds of tasks related to language (e.g., natural language understanding and generation, domain-specific interaction), yet instruction tuning has not been systematically explored for dialogue-related tasks. We introduce InstructDial, an instruction tuning framework for dialogue, which consists of a repository of 48 diverse dialogue tasks in a unified text-to-text format created from 59 openly available dialogue datasets. Next, we explore cross-task generalization ability on models tuned on InstructDial across diverse dialogue tasks. Our analysis reveals that InstructDial enables good zero-shot performance on unseen datasets and tasks such as dialogue evaluation and intent detection, and even better performance in a few-shot setting. To ensure that models adhere to instructions, we introduce novel meta-tasks. We establish benchmark zero-shot and few-shot performance of models trained using the proposed framework on multiple dialogue tasks.

Learning in environments with large state and action spaces, and sparse rewards, can hinder a Reinforcement Learning (RL) agent's learning through trial-and-error. For instance, following natural language instructions on the Web (such as booking a flight ticket) leads to RL settings where input vocabulary and number of actionable elements on a page can grow very large. Even though recent approaches improve the success rate on relatively simple environments with the help of human demonstrations to guide the exploration, they still fail in environments where the set of possible instructions can reach millions. We approach the aforementioned problems from a different perspective and propose guided RL approaches that can generate unbounded amount of experience for an agent to learn from. Instead of learning from a complicated instruction with a large vocabulary, we decompose it into multiple sub-instructions and schedule a curriculum in which an agent is tasked with a gradually increasing subset of these relatively easier sub-instructions. In addition, when the expert demonstrations are not available, we propose a novel meta-learning framework that generates new instruction following tasks and trains the agent more effectively. We train DQN, deep reinforcement learning agent, with Q-value function approximated with a novel QWeb neural network architecture on these smaller, synthetic instructions. We evaluate the ability of our agent to generalize to new instructions on World of Bits benchmark, on forms with up to 100 elements, supporting 14 million possible instructions. The QWeb agent outperforms the baseline without using any human demonstration achieving 100% success rate on several difficult environments.

Text-driven video editing aims to modify video content according to natural language instructions. While recent training-free approaches have made progress by leveraging pre-trained diffusion models, they typically rely on inversion-based techniques that map input videos into the latent space, which often leads to temporal inconsistencies and degraded structural fidelity. To address this, we propose FlowDirector, a novel inversion-free video editing framework. Our framework models the editing process as a direct evolution in data space, guiding the video via an Ordinary Differential Equation (ODE) to smoothly transition along its inherent spatiotemporal manifold, thereby preserving temporal coherence and structural details. To achieve localized and controllable edits, we introduce an attention-guided masking mechanism that modulates the ODE velocity field, preserving non-target regions both spatially and temporally. Furthermore, to address incomplete edits and enhance semantic alignment with editing instructions, we present a guidance-enhanced editing strategy inspired by Classifier-Free Guidance, which leverages differential signals between multiple candidate flows to steer the editing trajectory toward stronger semantic alignment without compromising structural consistency. Extensive experiments across benchmarks demonstrate that FlowDirector achieves state-of-the-art performance in instruction adherence, temporal consistency, and background preservation, establishing a new paradigm for efficient and coherent video editing without inversion.

Instruction-based image editing aims to modify specific image elements with natural language instructions. However, current models in this domain often struggle to accurately execute complex user instructions, as they are trained on low-quality data with limited editing types. We present AnyEdit, a comprehensive multi-modal instruction editing dataset, comprising 2.5 million high-quality editing pairs spanning over 20 editing types and five domains. We ensure the diversity and quality of the AnyEdit collection through three aspects: initial data diversity, adaptive editing process, and automated selection of editing results. Using the dataset, we further train a novel AnyEdit Stable Diffusion with task-aware routing and learnable task embedding for unified image editing. Comprehensive experiments on three benchmark datasets show that AnyEdit consistently boosts the performance of diffusion-based editing models. This presents prospects for developing instruction-driven image editing models that support human creativity.

Language-conditioned robot models have the potential to enable robots to perform a wide range of tasks based on natural language instructions. However, assessing their safety and effectiveness remains challenging because it is difficult to test all the different ways a single task can be phrased. Current benchmarks have two key limitations: they rely on a limited set of human-generated instructions, missing many challenging cases, and focus only on task performance without assessing safety, such as avoiding damage. To address these gaps, we introduce Embodied Red Teaming (ERT), a new evaluation method that generates diverse and challenging instructions to test these models. ERT uses automated red teaming techniques with Vision Language Models (VLMs) to create contextually grounded, difficult instructions. Experimental results show that state-of-the-art language-conditioned robot models fail or behave unsafely on ERT-generated instructions, underscoring the shortcomings of current benchmarks in evaluating real-world performance and safety. Code and videos are available at: https://s-karnik.github.io/embodied-red-team-project-page.

Large Vision-Language Models (VLMs) have demonstrated impressive performance on complex tasks involving visual input with natural language instructions. However, it remains unclear to what extent capabilities on natural images transfer to Earth observation (EO) data, which are predominantly satellite and aerial images less common in VLM training data. In this work, we propose a comprehensive benchmark to gauge the progress of VLMs toward being useful tools for EO data by assessing their abilities on scene understanding, localization and counting, and change detection tasks. Motivated by real-world applications, our benchmark includes scenarios like urban monitoring, disaster relief, land use, and conservation. We discover that, although state-of-the-art VLMs like GPT-4V possess extensive world knowledge that leads to strong performance on open-ended tasks like location understanding and image captioning, their poor spatial reasoning limits usefulness on object localization and counting tasks. Our benchmark will be made publicly available at https://vleo.danielz.ch/ and on Hugging Face at https://huggingface.co/collections/mit-ei/vleo-benchmark-datasets-65b789b0466555489cce0d70 for easy model evaluation.

Large language models (LLMs) have demonstrated significant universal capabilities as few/zero-shot learners in various tasks due to their pre-training on vast amounts of text data, as exemplified by GPT-3, which boosted to InstrctGPT and ChatGPT, effectively following natural language instructions to accomplish real-world tasks. In this paper, we propose to introduce instruction tuning into multi-modal models, motivated by the Flamingo model's upstream interleaved format pretraining dataset. We adopt a similar approach to construct our MultI-Modal In-Context Instruction Tuning (MIMIC-IT) dataset. We then introduce Otter, a multi-modal model based on OpenFlamingo (open-sourced version of DeepMind's Flamingo), trained on MIMIC-IT and showcasing improved instruction-following ability and in-context learning. We also optimize OpenFlamingo's implementation for researchers, democratizing the required training resources from 1times A100 GPU to 4times RTX-3090 GPUs, and integrate both OpenFlamingo and Otter into Huggingface Transformers for more researchers to incorporate the models into their customized training and inference pipelines.

The automated generation of design RTL based on large language model (LLM) and natural language instructions has demonstrated great potential in agile circuit design. However, the lack of datasets and benchmarks in the public domain prevents the development and fair evaluation of LLM solutions. This paper highlights our latest advances in open datasets and benchmarks from three perspectives: (1) RTLLM 2.0, an updated benchmark assessing LLM's capability in design RTL generation. The benchmark is augmented to 50 hand-crafted designs. Each design provides the design description, test cases, and a correct RTL code. (2) AssertEval, an open-source benchmark assessing the LLM's assertion generation capabilities for RTL verification. The benchmark includes 18 designs, each providing specification, signal definition, and correct RTL code. (3) RTLCoder-Data, an extended open-source dataset with 80K instruction-code data samples. Moreover, we propose a new verification-based method to verify the functionality correctness of training data samples. Based on this technique, we further release a dataset with 7K verified high-quality samples. These three studies are integrated into one framework, providing off-the-shelf support for the development and evaluation of LLMs for RTL code generation and verification. Finally, extensive experiments indicate that LLM performance can be boosted by enlarging the training dataset, improving data quality, and improving the training scheme.

We introduce mEdIT, a multi-lingual extension to CoEdIT -- the recent state-of-the-art text editing models for writing assistance. mEdIT models are trained by fine-tuning multi-lingual large, pre-trained language models (LLMs) via instruction tuning. They are designed to take instructions from the user specifying the attributes of the desired text in the form of natural language instructions, such as Grammatik korrigieren (German) or Parafrasee la oraci\'on (Spanish). We build mEdIT by curating data from multiple publicly available human-annotated text editing datasets for three text editing tasks (Grammatical Error Correction (GEC), Text Simplification, and Paraphrasing) across diverse languages belonging to six different language families. We detail the design and training of mEdIT models and demonstrate their strong performance on many multi-lingual text editing benchmarks against other multilingual LLMs. We also find that mEdIT generalizes effectively to new languages over multilingual baselines. We publicly release our data, code, and trained models at https://github.com/vipulraheja/medit.

Instruction-tuned Large Language Models (LLMs) have recently showcased remarkable advancements in their ability to generate fitting responses to natural language instructions. However, many current works rely on manual evaluation to judge the quality of generated responses. Since such manual evaluation is time-consuming, it does not easily scale to the evaluation of multiple models and model variants. In this short paper, we propose a straightforward but remarkably effective evaluation metric called SemScore, in which we directly compare model outputs to gold target responses using semantic textual similarity (STS). We conduct a comparative evaluation of the model outputs of 12 prominent instruction-tuned LLMs using 8 widely-used evaluation metrics for text generation. We find that our proposed SemScore metric outperforms all other, in many cases more complex, evaluation metrics in terms of correlation to human evaluation. These findings indicate the utility of our proposed metric for the evaluation of instruction-tuned LLMs.

Instruction-tuned Large Language Models (LLMs) have recently showcased remarkable ability to generate fitting responses to natural language instructions. However, an open research question concerns the inherent biases of trained models and their responses. For instance, if the data used to tune an LLM is dominantly written by persons with a specific political bias, we might expect generated answers to share this bias. Current research work seeks to de-bias such models, or suppress potentially biased answers. With this demonstration, we take a different view on biases in instruction-tuning: Rather than aiming to suppress them, we aim to make them explicit and transparent. To this end, we present OpinionGPT, a web demo in which users can ask questions and select all biases they wish to investigate. The demo will answer this question using a model fine-tuned on text representing each of the selected biases, allowing side-by-side comparison. To train the underlying model, we identified 11 different biases (political, geographic, gender, age) and derived an instruction-tuning corpus in which each answer was written by members of one of these demographics. This paper presents OpinionGPT, illustrates how we trained the bias-aware model and showcases the web application (available at https://opiniongpt.informatik.hu-berlin.de).

The recent development on large multimodal models (LMMs), especially GPT-4V(ision) and Gemini, has been quickly expanding the capability boundaries of multimodal models beyond traditional tasks like image captioning and visual question answering. In this work, we explore the potential of LMMs like GPT-4V as a generalist web agent that can follow natural language instructions to complete tasks on any given website. We propose SEEACT, a generalist web agent that harnesses the power of LMMs for integrated visual understanding and acting on the web. We evaluate on the recent MIND2WEB benchmark. In addition to standard offline evaluation on cached websites, we enable a new online evaluation setting by developing a tool that allows running web agents on live websites. We show that GPT-4V presents a great potential for web agents - it can successfully complete 50% of the tasks on live websites if we manually ground its textual plans into actions on the websites. This substantially outperforms text-only LLMs like GPT-4 or smaller models (FLAN-T5 and BLIP-2) specifically fine-tuned for web agents. However, grounding still remains a major challenge. Existing LMM grounding strategies like set-of-mark prompting turns out not effective for web agents, and the best grounding strategy we develop in this paper leverages both the HTML text and visuals. Yet, there is still a substantial gap with oracle grounding, leaving ample room for further improvement.

There is a growing interest in device-control systems that can interpret human natural language instructions and execute them on a digital device by directly controlling its user interface. We present a dataset for device-control research, Android in the Wild (AITW), which is orders of magnitude larger than current datasets. The dataset contains human demonstrations of device interactions, including the screens and actions, and corresponding natural language instructions. It consists of 715k episodes spanning 30k unique instructions, four versions of Android (v10-13),and eight device types (Pixel 2 XL to Pixel 6) with varying screen resolutions. It contains multi-step tasks that require semantic understanding of language and visual context. This dataset poses a new challenge: actions available through the user interface must be inferred from their visual appearance. And, instead of simple UI element-based actions, the action space consists of precise gestures (e.g., horizontal scrolls to operate carousel widgets). We organize our dataset to encourage robustness analysis of device-control systems, i.e., how well a system performs in the presence of new task descriptions, new applications, or new platform versions. We develop two agents and report performance across the dataset. The dataset is available at https://github.com/google-research/google-research/tree/master/android_in_the_wild.

A central challenge towards developing robots that can relate human language to their perception and actions is the scarcity of natural language annotations in diverse robot datasets. Moreover, robot policies that follow natural language instructions are typically trained on either templated language or expensive human-labeled instructions, hindering their scalability. To this end, we introduce NILS: Natural language Instruction Labeling for Scalability. NILS automatically labels uncurated, long-horizon robot data at scale in a zero-shot manner without any human intervention. NILS combines pretrained vision-language foundation models in order to detect objects in a scene, detect object-centric changes, segment tasks from large datasets of unlabelled interaction data and ultimately label behavior datasets. Evaluations on BridgeV2, Fractal, and a kitchen play dataset show that NILS can autonomously annotate diverse robot demonstrations of unlabeled and unstructured datasets while alleviating several shortcomings of crowdsourced human annotations, such as low data quality and diversity. We use NILS to label over 115k trajectories obtained from over 430 hours of robot data. We open-source our auto-labeling code and generated annotations on our website: http://robottasklabeling.github.io.

Despite recent progress in offline learning, these methods are still trained and tested on the same environment. In this paper, we compare the generalization abilities of widely used online and offline learning methods such as online reinforcement learning (RL), offline RL, sequence modeling, and behavioral cloning. Our experiments show that offline learning algorithms perform worse on new environments than online learning ones. We also introduce the first benchmark for evaluating generalization in offline learning, collecting datasets of varying sizes and skill-levels from Procgen (2D video games) and WebShop (e-commerce websites). The datasets contain trajectories for a limited number of game levels or natural language instructions and at test time, the agent has to generalize to new levels or instructions. Our experiments reveal that existing offline learning algorithms struggle to match the performance of online RL on both train and test environments. Behavioral cloning is a strong baseline, outperforming state-of-the-art offline RL and sequence modeling approaches when trained on data from multiple environments and tested on new ones. Finally, we find that increasing the diversity of the data, rather than its size, improves performance on new environments for all offline learning algorithms. Our study demonstrates the limited generalization of current offline learning algorithms highlighting the need for more research in this area.

To interact with daily-life articulated objects of diverse structures and functionalities, understanding the object parts plays a central role in both user instruction comprehension and task execution. However, the possible discordance between the semantic meaning and physics functionalities of the parts poses a challenge for designing a general system. To address this problem, we propose SAGE, a novel framework that bridges semantic and actionable parts of articulated objects to achieve generalizable manipulation under natural language instructions. More concretely, given an articulated object, we first observe all the semantic parts on it, conditioned on which an instruction interpreter proposes possible action programs that concretize the natural language instruction. Then, a part-grounding module maps the semantic parts into so-called Generalizable Actionable Parts (GAParts), which inherently carry information about part motion. End-effector trajectories are predicted on the GAParts, which, together with the action program, form an executable policy. Additionally, an interactive feedback module is incorporated to respond to failures, which closes the loop and increases the robustness of the overall framework. Key to the success of our framework is the joint proposal and knowledge fusion between a large vision-language model (VLM) and a small domain-specific model for both context comprehension and part perception, with the former providing general intuitions and the latter serving as expert facts. Both simulation and real-robot experiments show our effectiveness in handling a large variety of articulated objects with diverse language-instructed goals.

Developing an agent capable of adapting to unseen environments remains a difficult challenge in imitation learning. This work presents Adaptive Return-conditioned Policy (ARP), an efficient framework designed to enhance the agent's generalization ability using natural language task descriptions and pre-trained multimodal encoders. Our key idea is to calculate a similarity between visual observations and natural language instructions in the pre-trained multimodal embedding space (such as CLIP) and use it as a reward signal. We then train a return-conditioned policy using expert demonstrations labeled with multimodal rewards. Because the multimodal rewards provide adaptive signals at each timestep, our ARP effectively mitigates the goal misgeneralization. This results in superior generalization performances even when faced with unseen text instructions, compared to existing text-conditioned policies. To improve the quality of rewards, we also introduce a fine-tuning method for pre-trained multimodal encoders, further enhancing the performance. Video demonstrations and source code are available on the project website: https://sites.google.com/view/2023arp.

While intelligent virtual assistants like Siri, Alexa, and Google Assistant have become ubiquitous in modern life, they still face limitations in their ability to follow multi-step instructions and accomplish complex goals articulated in natural language. However, recent breakthroughs in large language models (LLMs) show promise for overcoming existing barriers by enhancing natural language processing and reasoning capabilities. Though promising, applying LLMs to create more advanced virtual assistants still faces challenges like ensuring robust performance and handling variability in real-world user commands. This paper proposes a novel LLM-based virtual assistant that can automatically perform multi-step operations within mobile apps based on high-level user requests. The system represents an advance in assistants by providing an end-to-end solution for parsing instructions, reasoning about goals, and executing actions. LLM-based Process Automation (LLMPA) has modules for decomposing instructions, generating descriptions, detecting interface elements, predicting next actions, and error checking. Experiments demonstrate the system completing complex mobile operation tasks in Alipay based on natural language instructions. This showcases how large language models can enable automated assistants to accomplish real-world tasks. The main contributions are the novel LLMPA architecture optimized for app process automation, the methodology for applying LLMs to mobile apps, and demonstrations of multi-step task completion in a real-world environment. Notably, this work represents the first real-world deployment and extensive evaluation of a large language model-based virtual assistant in a widely used mobile application with an enormous user base numbering in the hundreds of millions.

Large Multimodal Models (LMMs) have demonstrated impressive performance on recognizing document images with natural language instructions. However, it remains unclear to what extent capabilities in literacy with rich structure and fine-grained visual challenges. The current landscape lacks a comprehensive benchmark to effectively measure the literate capabilities of LMMs. Existing benchmarks are often limited by narrow scenarios and specified tasks. To this end, we introduce CC-OCR, a comprehensive benchmark that possess a diverse range of scenarios, tasks, and challenges. CC-OCR comprises four OCR-centric tracks: multi-scene text reading, multilingual text reading, document parsing, and key information extraction. It includes 39 subsets with 7,058 full annotated images, of which 41% are sourced from real applications, being released for the first time. Furthermore, we evaluate nine prominent LMMs and reveal both the strengths and weaknesses of these models, particularly in text grounding, multi-orientation, and hallucination of repetition. CC-OCR aims to comprehensively evaluate the capabilities of LMMs on OCR-centered tasks, driving advancement in LMMs.

We study the task of language instruction-guided robotic manipulation, in which an embodied robot is supposed to manipulate the target objects based on the language instructions. In previous studies, the predicted manipulation regions of the target object typically do not change with specification from the language instructions, which means that the language perception and manipulation prediction are separate. However, in human behavioral patterns, the manipulation regions of the same object will change for different language instructions. In this paper, we propose Instruction-Guided Affordance Net (IGANet) for predicting affordance maps of instruction-guided robotic manipulation tasks by utilizing powerful priors from vision and language encoders pre-trained on large-scale datasets. We develop a Vison-Language-Models(VLMs)-based data augmentation pipeline, which can generate a large amount of data automatically for model training. Besides, with the help of Large-Language-Models(LLMs), actions can be effectively executed to finish the tasks defined by instructions. A series of real-world experiments revealed that our method can achieve better performance with generated data. Moreover, our model can generalize better to scenarios with unseen objects and language instructions.

Named Entity Recognition (NER) is essential in various Natural Language Processing (NLP) applications. Traditional NER models are effective but limited to a set of predefined entity types. In contrast, Large Language Models (LLMs) can extract arbitrary entities through natural language instructions, offering greater flexibility. However, their size and cost, particularly for those accessed via APIs like ChatGPT, make them impractical in resource-limited scenarios. In this paper, we introduce a compact NER model trained to identify any type of entity. Leveraging a bidirectional transformer encoder, our model, GLiNER, facilitates parallel entity extraction, an advantage over the slow sequential token generation of LLMs. Through comprehensive testing, GLiNER demonstrate strong performance, outperforming both ChatGPT and fine-tuned LLMs in zero-shot evaluations on various NER benchmarks.

Text-to-image (T2I) generation models have significantly advanced in recent years. However, effective interaction with these models is challenging for average users due to the need for specialized prompt engineering knowledge and the inability to perform multi-turn image generation, hindering a dynamic and iterative creation process. Recent attempts have tried to equip Multi-modal Large Language Models (MLLMs) with T2I models to bring the user's natural language instructions into reality. Hence, the output modality of MLLMs is extended, and the multi-turn generation quality of T2I models is enhanced thanks to the strong multi-modal comprehension ability of MLLMs. However, many of these works face challenges in identifying correct output modalities and generating coherent images accordingly as the number of output modalities increases and the conversations go deeper. Therefore, we propose DialogGen, an effective pipeline to align off-the-shelf MLLMs and T2I models to build a Multi-modal Interactive Dialogue System (MIDS) for multi-turn Text-to-Image generation. It is composed of drawing prompt alignment, careful training data curation, and error correction. Moreover, as the field of MIDS flourishes, comprehensive benchmarks are urgently needed to evaluate MIDS fairly in terms of output modality correctness and multi-modal output coherence. To address this issue, we introduce the Multi-modal Dialogue Benchmark (DialogBen), a comprehensive bilingual benchmark designed to assess the ability of MLLMs to generate accurate and coherent multi-modal content that supports image editing. It contains two evaluation metrics to measure the model's ability to switch modalities and the coherence of the output images. Our extensive experiments on DialogBen and user study demonstrate the effectiveness of DialogGen compared with other State-of-the-Art models.

Text-guided image editing aims to modify specific regions of an image according to natural language instructions while maintaining the general structure and the background fidelity. Existing methods utilize masks derived from cross-attention maps generated from diffusion models to identify the target regions for modification. However, since cross-attention mechanisms focus on semantic relevance, they struggle to maintain the image integrity. As a result, these methods often lack spatial consistency, leading to editing artifacts and distortions. In this work, we address these limitations and introduce LOCATEdit, which enhances cross-attention maps through a graph-based approach utilizing self-attention-derived patch relationships to maintain smooth, coherent attention across image regions, ensuring that alterations are limited to the designated items while retaining the surrounding structure. \method consistently and substantially outperforms existing baselines on PIE-Bench, demonstrating its state-of-the-art performance and effectiveness on various editing tasks. Code can be found on https://github.com/LOCATEdit/LOCATEdit/

Recent advancements in image editing have utilized large-scale multimodal models to enable intuitive, natural instruction-driven interactions. However, conventional methods still face significant challenges, particularly in spatial reasoning, precise region segmentation, and maintaining semantic consistency, especially in complex scenes. To overcome these challenges, we introduce SmartFreeEdit, a novel end-to-end framework that integrates a multimodal large language model (MLLM) with a hypergraph-enhanced inpainting architecture, enabling precise, mask-free image editing guided exclusively by natural language instructions. The key innovations of SmartFreeEdit include:(1)the introduction of region aware tokens and a mask embedding paradigm that enhance the spatial understanding of complex scenes;(2) a reasoning segmentation pipeline designed to optimize the generation of editing masks based on natural language instructions;and (3) a hypergraph-augmented inpainting module that ensures the preservation of both structural integrity and semantic coherence during complex edits, overcoming the limitations of local-based image generation. Extensive experiments on the Reason-Edit benchmark demonstrate that SmartFreeEdit surpasses current state-of-the-art methods across multiple evaluation metrics, including segmentation accuracy, instruction adherence, and visual quality preservation, while addressing the issue of local information focus and improving global consistency in the edited image. Our project will be available at https://github.com/smileformylove/SmartFreeEdit.

With the integration of large language models (LLMs), embodied agents have strong capabilities to understand and plan complicated natural language instructions. However, a foreseeable issue is that those embodied agents can also flawlessly execute some hazardous tasks, potentially causing damages in the real world. Existing benchmarks predominantly overlook critical safety risks, focusing solely on planning performance, while a few evaluate LLMs' safety awareness only on non-interactive image-text data. To address this gap, we present SafeAgentBench-the first benchmark for safety-aware task planning of embodied LLM agents in interactive simulation environments. SafeAgentBench includes: (1) an executable, diverse, and high-quality dataset of 750 tasks, rigorously curated to cover 10 potential hazards and 3 task types; (2) SafeAgentEnv, a universal embodied environment with a low-level controller, supporting multi-agent execution with 17 high-level actions for 8 state-of-the-art baselines; and (3) reliable evaluation methods from both execution and semantic perspectives. Experimental results show that, although agents based on different design frameworks exhibit substantial differences in task success rates, their overall safety awareness remains weak. The most safety-conscious baseline achieves only a 10\% rejection rate for detailed hazardous tasks. Moreover, simply replacing the LLM driving the agent does not lead to notable improvements in safety awareness. More details and code are available at https://github.com/shengyin1224/SafeAgentBench.

Recent advances on Multi-modal Large Language Models have demonstrated that high-resolution image input is crucial for model capabilities, especially for fine-grained tasks. However, high-resolution images lead to a quadratic increase in the number of visual tokens input into LLMs, resulting in significant computational costs. Current work develop visual token compression methods to achieve efficiency improvements, often at the expense of performance. We argue that removing visual redundancy can simultaneously improve both efficiency and performance. We build a coarse-to-fine visual token compression method, with a vision-guided sampler for compressing redundant regions with low information density, and a text-guided sampler for selecting visual tokens that are strongly correlated with the user instructions.With these two modules, the proposed FocusLLaVA achieves improvements in both efficiency and performance. We validate the effectiveness of our approach on a wide range of evaluation datasets.

Text-to-SQL parsing, which aims at converting natural language instructions into executable SQLs, has gained increasing attention in recent years. In particular, Codex and ChatGPT have shown impressive results in this task. However, most of the prevalent benchmarks, i.e., Spider, and WikiSQL, focus on database schema with few rows of database contents leaving the gap between academic study and real-world applications. To mitigate this gap, we present Bird, a big benchmark for large-scale database grounded in text-to-SQL tasks, containing 12,751 pairs of text-to-SQL data and 95 databases with a total size of 33.4 GB, spanning 37 professional domains. Our emphasis on database values highlights the new challenges of dirty database contents, external knowledge between NL questions and database contents, and SQL efficiency, particularly in the context of massive databases. To solve these problems, text-to-SQL models must feature database value comprehension in addition to semantic parsing. The experimental results demonstrate the significance of database values in generating accurate text-to-SQLs for big databases. Furthermore, even the most effective text-to-SQL models, i.e. ChatGPT, only achieves 40.08% in execution accuracy, which is still far from the human result of 92.96%, proving that challenges still stand. Besides, we also provide an efficiency analysis to offer insights into generating text-to-efficient-SQLs that are beneficial to industries. We believe that BIRD will contribute to advancing real-world applications of text-to-SQL research. The leaderboard and source code are available: https://bird-bench.github.io/.

Seamless interaction between AI agents and humans using natural language remains a key goal in AI research. This paper addresses the challenges of developing interactive agents capable of understanding and executing grounded natural language instructions through the IGLU competition at NeurIPS. Despite advancements, challenges such as a scarcity of appropriate datasets and the need for effective evaluation platforms persist. We introduce a scalable data collection tool for gathering interactive grounded language instructions within a Minecraft-like environment, resulting in a Multi-Modal dataset with around 9,000 utterances and over 1,000 clarification questions. Additionally, we present a Human-in-the-Loop interactive evaluation platform for qualitative analysis and comparison of agent performance through multi-turn communication with human annotators. We offer to the community these assets referred to as IDAT (IGLU Dataset And Toolkit) which aim to advance the development of intelligent, interactive AI agents and provide essential resources for further research.

Recent popularity of Large Language Models (LLMs) has opened countless possibilities in automating numerous AI tasks by connecting LLMs to various domain-specific models or APIs, where LLMs serve as dispatchers while domain-specific models or APIs are action executors. Despite the vast numbers of domain-specific models/APIs, they still struggle to comprehensively cover super diverse automation demands in the interaction between human and User Interfaces (UIs). In this work, we build a multimodal model to ground natural language instructions in given UI screenshots as a generic UI task automation executor. This metadata-free grounding model, consisting of a visual encoder and a language decoder, is first pretrained on well studied document understanding tasks and then learns to decode spatial information from UI screenshots in a promptable way. To facilitate the exploitation of image-to-text pretrained knowledge, we follow the pixel-to-sequence paradigm to predict geometric coordinates in a sequence of tokens using a language decoder. We further propose an innovative Reinforcement Learning (RL) based algorithm to supervise the tokens in such sequence jointly with visually semantic metrics, which effectively strengthens the spatial decoding capability of the pixel-to-sequence paradigm. Extensive experiments demonstrate our proposed reinforced UI instruction grounding model outperforms the state-of-the-art methods by a clear margin and shows the potential as a generic UI task automation API.

Graphical user interface (GUI) grounding, the ability to map natural language instructions to specific actions on graphical user interfaces, remains a critical bottleneck in computer use agent development. Current benchmarks oversimplify grounding tasks as short referring expressions, failing to capture the complexity of real-world interactions that require software commonsense, layout understanding, and fine-grained manipulation capabilities. To address these limitations, we introduce OSWorld-G, a comprehensive benchmark comprising 564 finely annotated samples across diverse task types including text matching, element recognition, layout understanding, and precise manipulation. Additionally, we synthesize and release the largest computer use grounding dataset Jedi, which contains 4 million examples through multi-perspective decoupling of tasks. Our multi-scale models trained on Jedi demonstrate its effectiveness by outperforming existing approaches on ScreenSpot-v2, ScreenSpot-Pro, and our OSWorld-G. Furthermore, we demonstrate that improved grounding with Jedi directly enhances agentic capabilities of general foundation models on complex computer tasks, improving from 5% to 27% on OSWorld. Through detailed ablation studies, we identify key factors contributing to grounding performance and verify that combining specialized data for different interface elements enables compositional generalization to novel interfaces. All benchmark, data, checkpoints, and code are open-sourced and available at https://osworld-grounding.github.io.

This technical report presents QwenLong-CPRS, a context compression framework designed for explicit long-context optimization, addressing prohibitive computation overhead during the prefill stage and the "lost in the middle" performance degradation of large language models (LLMs) during long sequence processing. Implemented through a novel dynamic context optimization mechanism, QwenLong-CPRS enables multi-granularity context compression guided by natural language instructions, achieving both efficiency gains and improved performance. Evolved from the Qwen architecture series, QwenLong-CPRS introduces four key innovations: (1) Natural language-guided dynamic optimization, (2) Bidirectional reasoning layers for enhanced boundary awareness, (3) Token critic mechanisms with language modeling heads, and (4) Window-parallel inference. Comprehensive evaluations across five benchmarks (4K-2M word contexts) demonstrate QwenLong-CPRS's threefold effectiveness: (1) Consistent superiority over other context management methods like RAG and sparse attention in both accuracy and efficiency. (2) Architecture-agnostic integration with all flagship LLMs, including GPT-4o, Gemini2.0-pro, Claude3.7-sonnet, DeepSeek-v3, and Qwen2.5-max, achieves 21.59times context compression alongside 19.15-point average performance gains; (3) Deployed with Qwen2.5-32B-Instruct, QwenLong-CPRS surpasses leading proprietary LLMs by 4.85 and 10.88 points on Ruler-128K and InfiniteBench, establishing new SOTA performance.

Prototyping complex computer-aided design (CAD) models in modern softwares can be very time-consuming. This is due to the lack of intelligent systems that can quickly generate simpler intermediate parts. We propose Text2CAD, the first AI framework for generating text-to-parametric CAD models using designer-friendly instructions for all skill levels. Furthermore, we introduce a data annotation pipeline for generating text prompts based on natural language instructions for the DeepCAD dataset using Mistral and LLaVA-NeXT. The dataset contains sim170K models and sim660K text annotations, from abstract CAD descriptions (e.g., generate two concentric cylinders) to detailed specifications (e.g., draw two circles with center (x,y) and radius r_{1}, r_{2}, and extrude along the normal by d...). Within the Text2CAD framework, we propose an end-to-end transformer-based auto-regressive network to generate parametric CAD models from input texts. We evaluate the performance of our model through a mixture of metrics, including visual quality, parametric precision, and geometrical accuracy. Our proposed framework shows great potential in AI-aided design applications. Our source code and annotations will be publicly available.

Humans can flexibly switch between different modes of thinking based on task complexity: from rapid intuitive judgments to in-depth analytical understanding. However, current Graphical User Interface (GUI) grounding systems which locate interface elements based on natural language instructions rely solely on immediate prediction without reasoning, struggling to understand complex interface layouts with nested structures and hierarchical relationships, limiting their effectiveness on complex interfaces. Inspired by human dual-system cognition, we present Focus, a novel GUI grounding framework that combines fast prediction with systematic analysis. The framework dynamically switches between rapid and deliberate processing through an adaptive system switching based on task complexity, optimizing both efficiency and accuracy. Focus decomposes grounding into progressive stages: interface summarization, visual focused analysis, and precise coordinate prediction. This structured decomposition enables systematic understanding of both interface layouts and visual relationships. Extensive experiments show that Focus achieves state-of-the-art performance using only 300K of the training data with a 2B parameter model compared to existing approaches. Focus demonstrates superior performance particularly in complex GUI scenarios, achieving 77.4% average accuracy on ScreenSpot and 13.3% on the more challenging ScreenSpot-Pro. Our analysis reveals the effectiveness of this dual-system approach while demonstrating its potential for improving complex GUI interaction scenarios.

Learning a perception and reasoning module for robotic assistants to plan steps to perform complex tasks based on natural language instructions often requires large free-form language annotations, especially for short high-level instructions. To reduce the cost of annotation, large language models (LLMs) are used as a planner with few data. However, when elaborating the steps, even the state-of-the-art planner that uses LLMs mostly relies on linguistic common sense, often neglecting the status of the environment at command reception, resulting in inappropriate plans. To generate plans grounded in the environment, we propose FLARE (Few-shot Language with environmental Adaptive Replanning Embodied agent), which improves task planning using both language command and environmental perception. As language instructions often contain ambiguities or incorrect expressions, we additionally propose to correct the mistakes using visual cues from the agent. The proposed scheme allows us to use a few language pairs thanks to the visual cues and outperforms state-of-the-art approaches. Our code is available at https://github.com/snumprlab/flare.

With the rise of AI-based code generation, customizing existing code out of natural language instructions to modify visual results -such as figures or images -has become possible, promising to reduce the need for deep programming expertise. However, even experienced developers can struggle with this task, as it requires identifying relevant code regions (feature location), generating valid code variants, and ensuring the modifications reliably align with user intent. In this paper, we introduce vTikZ, the first benchmark designed to evaluate the ability of Large Language Models (LLMs) to customize code while preserving coherent visual outcomes. Our benchmark consists of carefully curated vTikZ editing scenarios, parameterized ground truths, and a reviewing tool that leverages visual feedback to assess correctness. Empirical evaluation with stateof-the-art LLMs shows that existing solutions struggle to reliably modify code in alignment with visual intent, highlighting a gap in current AI-assisted code editing approaches. We argue that vTikZ opens new research directions for integrating LLMs with visual feedback mechanisms to improve code customization tasks in various domains beyond TikZ, including image processing, art creation, Web design, and 3D modeling.

Large Language Models (LLMs) have recently shown promise in streamlining hardware design processes by encapsulating vast amounts of domain-specific data. In addition, they allow users to interact with the design processes through natural language instructions, thus making hardware design more accessible to developers. However, effectively leveraging LLMs in hardware design necessitates providing domain-specific data during inference (e.g., through in-context learning), fine-tuning, or pre-training. Unfortunately, existing publicly available hardware datasets are often limited in size, complexity, or detail, which hinders the effectiveness of LLMs in hardware design tasks. To address this issue, we first propose a set of criteria for creating high-quality hardware datasets that can effectively enhance LLM-assisted hardware design. Based on these criteria, we propose a Multi-Grained-Verilog (MG-Verilog) dataset, which encompasses descriptions at various levels of detail and corresponding code samples. To benefit the broader hardware design community, we have developed an open-source infrastructure that facilitates easy access, integration, and extension of the dataset to meet specific project needs. Furthermore, to fully exploit the potential of the MG-Verilog dataset, which varies in complexity and detail, we introduce a balanced fine-tuning scheme. This scheme serves as a unique use case to leverage the diverse levels of detail provided by the dataset. Extensive experiments demonstrate that the proposed dataset and fine-tuning scheme consistently improve the performance of LLMs in hardware design tasks.

The automatic generation of RTL code (e.g., Verilog) using natural language instructions and large language models (LLMs) has attracted significant research interest recently. However, most existing approaches heavily rely on commercial LLMs such as ChatGPT, while open-source LLMs tailored for this specific design generation task exhibit notably inferior performance. The absence of high-quality open-source solutions restricts the flexibility and data privacy of this emerging technique. In this study, we present a new customized LLM solution with a modest parameter count of only 7B, achieving better performance than GPT-3.5 on two representative benchmarks for RTL code generation. This remarkable balance between accuracy and efficiency is made possible by leveraging our new RTL code dataset and a customized LLM algorithm, both of which will be made fully open-source. Furthermore, we have successfully quantized our LLM to 4-bit with a total size of 4GB, enabling it to function on a single laptop with only slight performance degradation. This efficiency allows the RTL generator to serve as a local assistant for engineers, ensuring all design privacy concerns are addressed.

In recent years, the field of computer vision has seen significant advancements thanks to the development of large language models (LLMs). These models have enabled more effective and sophisticated interactions between humans and machines, paving the way for novel techniques that blur the lines between human and machine intelligence. In this paper, we introduce a new paradigm for object detection that we call reasoning-based object detection. Unlike conventional object detection methods that rely on specific object names, our approach enables users to interact with the system using natural language instructions, allowing for a higher level of interactivity. Our proposed method, called DetGPT, leverages state-of-the-art multi-modal models and open-vocabulary object detectors to perform reasoning within the context of the user's instructions and the visual scene. This enables DetGPT to automatically locate the object of interest based on the user's expressed desires, even if the object is not explicitly mentioned. For instance, if a user expresses a desire for a cold beverage, DetGPT can analyze the image, identify a fridge, and use its knowledge of typical fridge contents to locate the beverage. This flexibility makes our system applicable across a wide range of fields, from robotics and automation to autonomous driving. Overall, our proposed paradigm and DetGPT demonstrate the potential for more sophisticated and intuitive interactions between humans and machines. We hope that our proposed paradigm and approach will provide inspiration to the community and open the door to more interative and versatile object detection systems. Our project page is launched at detgpt.github.io.

Finetuning pre-trained language models (LMs) enhances the models' capabilities. Prior techniques fine-tune a pre-trained LM on input-output pairs (e.g., instruction fine-tuning), or with numerical rewards that gauge the quality of its outputs (e.g., reinforcement learning from human feedback). We explore LMs' potential to learn from textual interactions (LeTI) that not only check their correctness with binary labels, but also pinpoint and explain errors in their outputs through textual feedback. Our investigation focuses on the code generation task, where the model produces code pieces in response to natural language instructions. This setting invites a natural and scalable way to acquire the textual feedback: the error messages and stack traces from code execution using a Python interpreter. LeTI iteratively fine-tunes the model, using the LM objective, on a concatenation of natural language instructions, LM-generated programs, and textual feedback, which is only provided when the generated program fails to solve the task. Prepended to this fine-tuning text, a binary reward token is used to differentiate correct and buggy solutions. On MBPP, a code generation dataset, LeTI substantially improves the performance of two base LMs of different scales. LeTI requires no ground-truth outputs for training and even outperforms a fine-tuned baseline that does. LeTI's strong performance generalizes to other datasets. Trained on MBPP, it achieves comparable or better performance than the base LMs on unseen problems in HumanEval. Furthermore, compared to binary feedback, we observe that textual feedback leads to improved generation quality and sample efficiency, achieving the same performance with fewer than half of the gradient steps. LeTI is equally applicable in natural language tasks when they can be formulated as code generation, which we empirically verified on event argument extraction.

We present LlamaSeg, a visual autoregressive framework that unifies multiple image segmentation tasks via natural language instructions. We reformulate image segmentation as a visual generation problem, representing masks as "visual" tokens and employing a LLaMA-style Transformer to predict them directly from image inputs. By adhering to the next-token prediction paradigm, our approach naturally integrates segmentation tasks into autoregressive architectures. To support large-scale training, we introduce a data annotation pipeline and construct the SA-OVRS dataset, which contains 2M segmentation masks annotated with over 5,800 open-vocabulary labels or diverse textual descriptions, covering a wide spectrum of real-world scenarios. This enables our model to localize objects in images based on text prompts and to generate fine-grained masks. To more accurately evaluate the quality of masks produced by visual generative models, we further propose a composite metric that combines Intersection over Union (IoU) with Average Hausdorff Distance (AHD), offering a more precise assessment of contour fidelity. Experimental results demonstrate that our method surpasses existing generative models across multiple datasets and yields more detailed segmentation masks.

Multi-hand semantic grasp generation aims to generate feasible and semantically appropriate grasp poses for different robotic hands based on natural language instructions. Although the task is highly valuable, due to the lack of multi-hand grasp datasets with fine-grained contact description between robotic hands and objects, it is still a long-standing difficult task. In this paper, we present Multi-GraspSet, the first large-scale multi-hand grasp dataset with automatically contact annotations. Based on Multi-GraspSet, we propose Multi-GraspLLM, a unified language-guided grasp generation framework. It leverages large language models (LLM) to handle variable-length sequences, generating grasp poses for diverse robotic hands in a single unified architecture. Multi-GraspLLM first aligns the encoded point cloud features and text features into a unified semantic space. It then generates grasp bin tokens which are subsequently converted into grasp pose for each robotic hand via hand-aware linear mapping. The experimental results demonstrate that our approach significantly outperforms existing methods on Multi-GraspSet. More information can be found on our project page https://multi-graspllm.github.io.

In recent years, Large Language Models (LLMs) like ChatGPT have seen considerable advancements and have been applied in diverse fields. Built on the Transformer architecture, these models are trained on extensive datasets, enabling them to understand and generate human language effectively. In the financial domain, the deployment of LLMs is gaining momentum. These models are being utilized for automating financial report generation, forecasting market trends, analyzing investor sentiment, and offering personalized financial advice. Leveraging their natural language processing capabilities, LLMs can distill key insights from vast financial data, aiding institutions in making informed investment choices and enhancing both operational efficiency and customer satisfaction. In this study, we provide a comprehensive overview of the emerging integration of LLMs into various financial tasks. Additionally, we conducted holistic tests on multiple financial tasks through the combination of natural language instructions. Our findings show that GPT-4 effectively follow prompt instructions across various financial tasks. This survey and evaluation of LLMs in the financial domain aim to deepen the understanding of LLMs' current role in finance for both financial practitioners and LLM researchers, identify new research and application prospects, and highlight how these technologies can be leveraged to solve practical challenges in the finance industry.

As a part of an embodied agent, Large Language Models (LLMs) are typically used for behavior planning given natural language instructions from the user. However, dealing with ambiguous instructions in real-world environments remains a challenge for LLMs. Various methods for task ambiguity detection have been proposed. However, it is difficult to compare them because they are tested on different datasets and there is no universal benchmark. For this reason, we propose AmbiK (Ambiguous Tasks in Kitchen Environment), the fully textual dataset of ambiguous instructions addressed to a robot in a kitchen environment. AmbiK was collected with the assistance of LLMs and is human-validated. It comprises 1000 pairs of ambiguous tasks and their unambiguous counterparts, categorized by ambiguity type (Human Preferences, Common Sense Knowledge, Safety), with environment descriptions, clarifying questions and answers, user intents, and task plans, for a total of 2000 tasks. We hope that AmbiK will enable researchers to perform a unified comparison of ambiguity detection methods. AmbiK is available at https://github.com/cog-model/AmbiK-dataset.

Image editing has advanced significantly with the introduction of text-conditioned diffusion models. Despite this progress, seamlessly adding objects to images based on textual instructions without requiring user-provided input masks remains a challenge. We address this by leveraging the insight that removing objects (Inpaint) is significantly simpler than its inverse process of adding them (Paint), attributed to the utilization of segmentation mask datasets alongside inpainting models that inpaint within these masks. Capitalizing on this realization, by implementing an automated and extensive pipeline, we curate a filtered large-scale image dataset containing pairs of images and their corresponding object-removed versions. Using these pairs, we train a diffusion model to inverse the inpainting process, effectively adding objects into images. Unlike other editing datasets, ours features natural target images instead of synthetic ones; moreover, it maintains consistency between source and target by construction. Additionally, we utilize a large Vision-Language Model to provide detailed descriptions of the removed objects and a Large Language Model to convert these descriptions into diverse, natural-language instructions. We show that the trained model surpasses existing ones both qualitatively and quantitatively, and release the large-scale dataset alongside the trained models for the community.

Recent advances in generative diffusion models have enabled text-controlled synthesis of realistic and diverse images with impressive quality. Despite these remarkable advances, the application of text-to-image generative models in computer vision for standard visual recognition tasks remains limited. The current de facto approach for these tasks is to design model architectures and loss functions that are tailored to the task at hand. In this paper, we develop a unified language interface for computer vision tasks that abstracts away task-specific design choices and enables task execution by following natural language instructions. Our approach involves casting multiple computer vision tasks as text-to-image generation problems. Here, the text represents an instruction describing the task, and the resulting image is a visually-encoded task output. To train our model, we pool commonly-used computer vision datasets covering a range of tasks, including segmentation, object detection, depth estimation, and classification. We then use a large language model to paraphrase prompt templates that convey the specific tasks to be conducted on each image, and through this process, we create a multi-modal and multi-task training dataset comprising input and output images along with annotated instructions. Following the InstructPix2Pix architecture, we apply instruction-tuning to a text-to-image diffusion model using our constructed dataset, steering its functionality from a generative model to an instruction-guided multi-task vision learner. Experiments demonstrate that our model, dubbed InstructCV, performs competitively compared to other generalist and task-specific vision models. Moreover, it exhibits compelling generalization capabilities to unseen data, categories, and user instructions.

We present VISPROG, a neuro-symbolic approach to solving complex and compositional visual tasks given natural language instructions. VISPROG avoids the need for any task-specific training. Instead, it uses the in-context learning ability of large language models to generate python-like modular programs, which are then executed to get both the solution and a comprehensive and interpretable rationale. Each line of the generated program may invoke one of several off-the-shelf computer vision models, image processing routines, or python functions to produce intermediate outputs that may be consumed by subsequent parts of the program. We demonstrate the flexibility of VISPROG on 4 diverse tasks - compositional visual question answering, zero-shot reasoning on image pairs, factual knowledge object tagging, and language-guided image editing. We believe neuro-symbolic approaches like VISPROG are an exciting avenue to easily and effectively expand the scope of AI systems to serve the long tail of complex tasks that people may wish to perform.

Pre-trained large language models (LLMs) have recently achieved better generalization and sample efficiency in autonomous web navigation. However, the performance on real-world websites has still suffered from (1) open domainness, (2) limited context length, and (3) lack of inductive bias on HTML. We introduce WebAgent, an LLM-driven agent that can complete the tasks on real websites following natural language instructions. WebAgent plans ahead by decomposing instructions into canonical sub-instructions, summarizes long HTML documents into task-relevant snippets, and acts on websites via generated Python programs from those. We design WebAgent with Flan-U-PaLM, for grounded code generation, and HTML-T5, new pre-trained LLMs for long HTML documents using local and global attention mechanisms and a mixture of long-span denoising objectives, for planning and summarization. We empirically demonstrate that our recipe improves the success on a real website by over 50%, and that HTML-T5 is the best model to solve HTML-based tasks; achieving 14.9% higher success rate than prior SoTA on the MiniWoB web navigation benchmark and better accuracy on offline task planning evaluation.

Visual embedding models excel at zero-shot tasks like visual retrieval and classification. However, these models cannot be used for tasks that contain ambiguity or require user instruction. These tasks necessitate a multimodal embedding model, which outputs embeddings that combine visual and natural language input. Existing CLIP-based approaches embed images and text independently, and fuse the result. We find that this results in weak interactions between modalities, and poor user control over the representation. We introduce ABC, an open-source multimodal embedding model that uses a vision-language model backbone to deeply integrate image features with natural language instructions. ABC achieves bestfor-size performance on MSCOCO image-to-text retrieval and is the top performing model on classification and VQA tasks in the Massive Multimodal Embedding Benchmark. With a strongly unified vision-language representation, ABC can use natural language to solve subtle and potentially ambiguous visual retrieval problems. To evaluate this capability, we design CtrlBench, a benchmark that requires interleaving textual instructions with image content for correct retrieval. ABC advances the state of multimodal embeddings by offering high-quality representations and flexible natural language control. Our model and datasets are available at our project page.

Embodied Instruction Following (EIF) is a crucial task in embodied learning, requiring agents to interact with their environment through egocentric observations to fulfill natural language instructions. Recent advancements have seen a surge in employing large language models (LLMs) within a framework-centric approach to enhance performance in embodied learning tasks, including EIF. Despite these efforts, there exists a lack of a unified understanding regarding the impact of various components-ranging from visual perception to action execution-on task performance. To address this gap, we introduce OPEx, a comprehensive framework that delineates the core components essential for solving embodied learning tasks: Observer, Planner, and Executor. Through extensive evaluations, we provide a deep analysis of how each component influences EIF task performance. Furthermore, we innovate within this space by deploying a multi-agent dialogue strategy on a TextWorld counterpart, further enhancing task performance. Our findings reveal that LLM-centric design markedly improves EIF outcomes, identify visual perception and low-level action execution as critical bottlenecks, and demonstrate that augmenting LLMs with a multi-agent framework further elevates performance.

Instruction-following is essential for aligning large language models (LLMs) with user intent. While recent reasoning-oriented models exhibit impressive performance on complex mathematical problems, their ability to adhere to natural language instructions remains underexplored. In this work, we introduce MathIF, a dedicated benchmark for evaluating instruction-following in mathematical reasoning tasks. Our empirical analysis reveals a consistent tension between scaling up reasoning capacity and maintaining controllability, as models that reason more effectively often struggle to comply with user directives. We find that models tuned on distilled long chains-of-thought or trained with reasoning-oriented reinforcement learning often degrade in instruction adherence, especially when generation length increases. Furthermore, we show that even simple interventions can partially recover obedience, though at the cost of reasoning performance. These findings highlight a fundamental tension in current LLM training paradigms and motivate the need for more instruction-aware reasoning models. We release the code and data at https://github.com/TingchenFu/MathIF.

Large language models (LLMs) often struggle with visualization tasks like plotting diagrams, charts, where success depends on both code correctness and visual semantics. Existing instruction-tuning datasets lack execution-grounded supervision and offer limited support for iterative code correction, resulting in fragile and unreliable plot generation. We present VisCode-200K, a large-scale instruction tuning dataset for Python-based visualization and self-correction. It contains over 200K examples from two sources: (1) validated plotting code from open-source repositories, paired with natural language instructions and rendered plots; and (2) 45K multi-turn correction dialogues from Code-Feedback, enabling models to revise faulty code using runtime feedback. We fine-tune Qwen2.5-Coder-Instruct on VisCode-200K to create VisCoder, and evaluate it on PandasPlotBench. VisCoder significantly outperforms strong open-source baselines and approaches the performance of proprietary models like GPT-4o-mini. We further adopt a self-debug evaluation protocol to assess iterative repair, demonstrating the benefits of feedback-driven learning for executable, visually accurate code generation.

Graphic design plays a crucial role in both commercial and personal contexts, yet creating high-quality, editable, and aesthetically pleasing graphic compositions remains a time-consuming and skill-intensive task, especially for beginners. Current AI tools automate parts of the workflow, but struggle to accurately incorporate user-supplied assets, maintain editability, and achieve professional visual appeal. Commercial systems, like Canva Magic Design, rely on vast template libraries, which are impractical for replicate. In this paper, we introduce CreatiPoster, a framework that generates editable, multi-layer compositions from optional natural-language instructions or assets. A protocol model, an RGBA large multimodal model, first produces a JSON specification detailing every layer (text or asset) with precise layout, hierarchy, content and style, plus a concise background prompt. A conditional background model then synthesizes a coherent background conditioned on this rendered foreground layers. We construct a benchmark with automated metrics for graphic-design generation and show that CreatiPoster surpasses leading open-source approaches and proprietary commercial systems. To catalyze further research, we release a copyright-free corpus of 100,000 multi-layer designs. CreatiPoster supports diverse applications such as canvas editing, text overlay, responsive resizing, multilingual adaptation, and animated posters, advancing the democratization of AI-assisted graphic design. Project homepage: https://github.com/graphic-design-ai/creatiposter

This paper introduces RuleArena, a novel and challenging benchmark designed to evaluate the ability of large language models (LLMs) to follow complex, real-world rules in reasoning. Covering three practical domains -- airline baggage fees, NBA transactions, and tax regulations -- RuleArena assesses LLMs' proficiency in handling intricate natural language instructions that demand long-context understanding, logical reasoning, and accurate mathematical computation. Two key attributes distinguish RuleArena from traditional rule-based reasoning benchmarks: (1) it extends beyond standard first-order logic representations, and (2) it is grounded in authentic, practical scenarios, providing insights into the suitability and reliability of LLMs for real-world applications. Our findings reveal several notable limitations in LLMs: (1) they struggle to identify and apply the appropriate rules, frequently becoming confused by similar but distinct regulations, (2) they cannot consistently perform accurate mathematical computations, even when they correctly identify the relevant rules, and (3) in general, they perform poorly in the benchmark. These results highlight significant challenges in advancing LLMs' rule-guided reasoning capabilities in real-life applications.

Designing structured visuals such as presentation slides is essential for communicative needs, necessitating both content creation and visual planning skills. In this work, we tackle the challenge of automated slide generation, where models produce slide presentations from natural language (NL) instructions. We first introduce the SlidesBench benchmark, the first benchmark for slide generation with 7k training and 585 testing examples derived from 310 slide decks across 10 domains. SlidesBench supports evaluations that are (i)reference-based to measure similarity to a target slide, and (ii)reference-free to measure the design quality of generated slides alone. We benchmark end-to-end image generation and program generation methods with a variety of models, and find that programmatic methods produce higher-quality slides in user-interactable formats. Built on the success of program generation, we create AutoPresent, an 8B Llama-based model trained on 7k pairs of instructions paired with code for slide generation, and achieve results comparable to the closed-source model GPT-4o. We further explore iterative design refinement where the model is tasked to self-refine its own output, and we found that this process improves the slide's quality. We hope that our work will provide a basis for future work on generating structured visuals.

Software engineering activities frequently involve edits to existing code. However, contemporary code language models (LMs) lack the ability to handle diverse types of code-edit requirements. In this work, we attempt to overcome this shortcoming through (1) a novel synthetic data generation pipeline and (2) a robust model adaptation algorithm. Starting with seed code examples and diverse editing criteria, our pipeline generates high-quality samples comprising original and modified code, along with natural language instructions in different styles and verbosity. Today's code LMs come bundled with strong abilities, such as code generation and instruction following, which should not be lost due to fine-tuning. To ensure this, we propose a novel adaptation algorithm, SeleKT, that (a) leverages a dense gradient-based step to identify the weights that are most important for code editing, and (b) does a sparse projection onto the base model to avoid overfitting. Using our approach, we obtain a new series of models NextCoder (adapted from QwenCoder-2.5) that achieves strong results on five code-editing benchmarks, outperforming comparable size models and even several larger ones. We show the generality of our approach on two model families (DeepSeekCoder and QwenCoder), compare against other fine-tuning approaches, and demonstrate robustness by showing retention of code generation abilities post adaptation.

Large Language Models (LLMs) have demonstrated considerable proficiency in general natural language processing (NLP) tasks. Instruction tuning, a successful paradigm, enhances the ability of LLMs to follow natural language instructions and exhibit robust generalization across a wide range of tasks. However, these models often encounter performance limitations across multiple tasks due to constrained model capacity. Expanding this capacity during the instruction tuning phase poses significant challenges. To address this issue, we introduce a novel approach, Parameter-Efficient Sparsity Crafting (PESC), which transitions dense models to sparse models using a Mixture of Experts (MoE) architecture. PESC integrates adapters into the MoE layers of sparse models, differentiating experts without altering the individual weights within these layers. This method significantly reduces computational costs and GPU memory requirements, facilitating model capacity expansion through a minimal increase in parameters via the inserted adapters. Our empirical evaluation demonstrates the effectiveness of the PESC method. Using PESC during instruction tuning, our sparse models, dubbed Camelidae outperform all other opensource sparse models and exhibit superior general capabilities compared to GPT3.5.

Autonomous agents capable of planning, reasoning, and executing actions on the web offer a promising avenue for automating computer tasks. However, the majority of existing benchmarks primarily focus on text-based agents, neglecting many natural tasks that require visual information to effectively solve. Given that most computer interfaces cater to human perception, visual information often augments textual data in ways that text-only models struggle to harness effectively. To bridge this gap, we introduce VisualWebArena, a benchmark designed to assess the performance of multimodal web agents on realistic visually grounded tasks. VisualWebArena comprises of a set of diverse and complex web-based tasks that evaluate various capabilities of autonomous multimodal agents. To perform on this benchmark, agents need to accurately process image-text inputs, interpret natural language instructions, and execute actions on websites to accomplish user-defined objectives. We conduct an extensive evaluation of state-of-the-art LLM-based autonomous agents, including several multimodal models. Through extensive quantitative and qualitative analysis, we identify several limitations of text-only LLM agents, and reveal gaps in the capabilities of state-of-the-art multimodal language agents. VisualWebArena provides a framework for evaluating multimodal autonomous language agents, and offers insights towards building stronger autonomous agents for the web. Our code, baseline models, and data is publicly available at https://jykoh.com/vwa.

We propose a new concept, Evolution 6.0, which represents the evolution of robotics driven by Generative AI. When a robot lacks the necessary tools to accomplish a task requested by a human, it autonomously designs the required instruments and learns how to use them to achieve the goal. Evolution 6.0 is an autonomous robotic system powered by Vision-Language Models (VLMs), Vision-Language Action (VLA) models, and Text-to-3D generative models for tool design and task execution. The system comprises two key modules: the Tool Generation Module, which fabricates task-specific tools from visual and textual data, and the Action Generation Module, which converts natural language instructions into robotic actions. It integrates QwenVLM for environmental understanding, OpenVLA for task execution, and Llama-Mesh for 3D tool generation. Evaluation results demonstrate a 90% success rate for tool generation with a 10-second inference time, and action generation achieving 83.5% in physical and visual generalization, 70% in motion generalization, and 37% in semantic generalization. Future improvements will focus on bimanual manipulation, expanded task capabilities, and enhanced environmental interpretation to improve real-world adaptability.

Recently, diffusion-based methods, like InstructPix2Pix (IP2P), have achieved effective instruction-based image editing, requiring only natural language instructions from the user. However, these methods often inadvertently alter unintended areas and struggle with multi-instruction editing, resulting in compromised outcomes. To address these issues, we introduce the Focus on Your Instruction (FoI), a method designed to ensure precise and harmonious editing across multiple instructions without extra training or test-time optimization. In the FoI, we primarily emphasize two aspects: (1) precisely extracting regions of interest for each instruction and (2) guiding the denoising process to concentrate within these regions of interest. For the first objective, we identify the implicit grounding capability of IP2P from the cross-attention between instruction and image, then develop an effective mask extraction method. For the second objective, we introduce a cross attention modulation module for rough isolation of target editing regions and unrelated regions. Additionally, we introduce a mask-guided disentangle sampling strategy to further ensure clear region isolation. Experimental results demonstrate that FoI surpasses existing methods in both quantitative and qualitative evaluations, especially excelling in multi-instruction editing task.

We introduce BridgeData V2, a large and diverse dataset of robotic manipulation behaviors designed to facilitate research on scalable robot learning. BridgeData V2 contains 60,096 trajectories collected across 24 environments on a publicly available low-cost robot. BridgeData V2 provides extensive task and environment variability, leading to skills that can generalize across environments, domains, and institutions, making the dataset a useful resource for a broad range of researchers. Additionally, the dataset is compatible with a wide variety of open-vocabulary, multi-task learning methods conditioned on goal images or natural language instructions. In our experiments, we train 6 state-of-the-art imitation learning and offline reinforcement learning methods on our dataset, and find that they succeed on a suite of tasks requiring varying amounts of generalization. We also demonstrate that the performance of these methods improves with more data and higher capacity models, and that training on a greater variety of skills leads to improved generalization. By publicly sharing BridgeData V2 and our pre-trained models, we aim to accelerate research in scalable robot learning methods. Project page at https://rail-berkeley.github.io/bridgedata

Generative Artificial Intelligence (AI) has enabled the development of sophisticated models that are capable of producing high-caliber text, images, and other outputs through the utilization of large pre-trained models. Nevertheless, assessing the quality of the generation is an even more arduous task than the generation itself, and this issue has not been given adequate consideration recently. This paper proposes a novel evaluation framework, GPTScore, which utilizes the emergent abilities (e.g., zero-shot instruction) of generative pre-trained models to score generated texts. There are 19 pre-trained models explored in this paper, ranging in size from 80M (e.g., FLAN-T5-small) to 175B (e.g., GPT3). Experimental results on four text generation tasks, 22 evaluation aspects, and corresponding 37 datasets demonstrate that this approach can effectively allow us to achieve what one desires to evaluate for texts simply by natural language instructions. This nature helps us overcome several long-standing challenges in text evaluation--how to achieve customized, multi-faceted evaluation without the need for annotated samples. We make our code publicly available at https://github.com/jinlanfu/GPTScore.

In ophthalmic surgery, developing an AI system capable of interpreting surgical videos and predicting subsequent operations requires numerous ophthalmic surgical videos with high-quality annotations, which are difficult to collect due to privacy concerns and labor consumption. Text-guided video generation (T2V) emerges as a promising solution to overcome this issue by generating ophthalmic surgical videos based on surgeon instructions. In this paper, we present Ophora, a pioneering model that can generate ophthalmic surgical videos following natural language instructions. To construct Ophora, we first propose a Comprehensive Data Curation pipeline to convert narrative ophthalmic surgical videos into a large-scale, high-quality dataset comprising over 160K video-instruction pairs, Ophora-160K. Then, we propose a Progressive Video-Instruction Tuning scheme to transfer rich spatial-temporal knowledge from a T2V model pre-trained on natural video-text datasets for privacy-preserved ophthalmic surgical video generation based on Ophora-160K. Experiments on video quality evaluation via quantitative analysis and ophthalmologist feedback demonstrate that Ophora can generate realistic and reliable ophthalmic surgical videos based on surgeon instructions. We also validate the capability of Ophora for empowering downstream tasks of ophthalmic surgical workflow understanding. Code is available at https://github.com/mar-cry/Ophora.

Despite prior safety alignment efforts, mainstream LLMs can still generate harmful and unethical content when subjected to jailbreaking attacks. Existing jailbreaking methods fall into two main categories: template-based and optimization-based methods. The former requires significant manual effort and domain knowledge, while the latter, exemplified by Greedy Coordinate Gradient (GCG), which seeks to maximize the likelihood of harmful LLM outputs through token-level optimization, also encounters several limitations: requiring white-box access, necessitating pre-constructed affirmative phrase, and suffering from low efficiency. In this paper, we present ECLIPSE, a novel and efficient black-box jailbreaking method utilizing optimizable suffixes. Drawing inspiration from LLMs' powerful generation and optimization capabilities, we employ task prompts to translate jailbreaking goals into natural language instructions. This guides the LLM to generate adversarial suffixes for malicious queries. In particular, a harmfulness scorer provides continuous feedback, enabling LLM self-reflection and iterative optimization to autonomously and efficiently produce effective suffixes. Experimental results demonstrate that ECLIPSE achieves an average attack success rate (ASR) of 0.92 across three open-source LLMs and GPT-3.5-Turbo, significantly surpassing GCG in 2.4 times. Moreover, ECLIPSE is on par with template-based methods in ASR while offering superior attack efficiency, reducing the average attack overhead by 83%.

Referring perception, which aims at grounding visual objects with multimodal referring guidance, is essential for bridging the gap between humans, who provide instructions, and the environment where intelligent systems perceive. Despite progress in this field, the robustness of referring perception models (RPMs) against disruptive perturbations is not well explored. This work thoroughly assesses the resilience of RPMs against various perturbations in both general and specific contexts. Recognizing the complex nature of referring perception tasks, we present a comprehensive taxonomy of perturbations, and then develop a versatile toolbox for synthesizing and evaluating the effects of composite disturbances. Employing this toolbox, we construct R^2-Bench, a benchmark for assessing the Robustness of Referring perception models under noisy conditions across five key tasks. Moreover, we propose the R^2-Agent, an LLM-based agent that simplifies and automates model evaluation via natural language instructions. Our investigation uncovers the vulnerabilities of current RPMs to various perturbations and provides tools for assessing model robustness, potentially promoting the safe and resilient integration of intelligent systems into complex real-world scenarios.

The recent success of Large Language Models (LLMs) has gained significant attention in both academia and industry. Substantial efforts have been made to enhance the zero- and few-shot generalization capabilities of open-source LLMs through finetuning. Currently, the prevailing approach is instruction-tuning, which trains LLMs to complete real-world tasks by generating responses guided by natural language instructions. It is worth noticing that such an approach may underperform in sequence and token classification tasks. Unlike text generation tasks, classification tasks have a limited label space, where precise label prediction is more appreciated than generating diverse and human-like responses. Prior research has unveiled that instruction-tuned LLMs cannot outperform BERT, prompting us to explore the potential of leveraging latent representations from LLMs for supervised label prediction. In this paper, we introduce a label-supervised adaptation for LLMs, which aims to finetuning the model with discriminant labels. We evaluate this approach with Label Supervised LLaMA (LS-LLaMA), based on LLaMA-2-7B, a relatively small-scale LLM, and can be finetuned on a single GeForce RTX4090 GPU. We extract latent representations from the final LLaMA layer and project them into the label space to compute the cross-entropy loss. The model is finetuned by Low-Rank Adaptation (LoRA) to minimize this loss. Remarkably, without intricate prompt engineering or external knowledge, LS-LLaMA substantially outperforms LLMs ten times its size in scale and demonstrates consistent improvements compared to robust baselines like BERT-Large and RoBERTa-Large in text classification. Moreover, by removing the causal mask from decoders, LS-unLLaMA achieves the state-of-the-art performance in named entity recognition (NER). Our work will shed light on a novel approach to adapting LLMs for various downstream tasks.

Large Language Models (LLMs) have demonstrated impressive capabilities for text rewriting. Nonetheless, the large sizes of these models make them impractical for on-device inference, which would otherwise allow for enhanced privacy and economical inference. Creating a smaller yet potent language model for text rewriting presents a formidable challenge because it requires balancing the need for a small size with the need to retain the emergent capabilities of the LLM, that requires costly data collection. To address the above challenge, we introduce a new instruction tuning approach for building a mobile-centric text rewriting model. Our strategies enable the generation of high quality training data without any human labeling. In addition, we propose a heuristic reinforcement learning framework which substantially enhances performance without requiring preference data. To further bridge the performance gap with the larger server-side model, we propose an effective approach that combines the mobile rewrite agent with the server model using a cascade. To tailor the text rewriting tasks to mobile scenarios, we introduce MessageRewriteEval, a benchmark that focuses on text rewriting for messages through natural language instructions. Through empirical experiments, we demonstrate that our on-device model surpasses the current state-of-the-art LLMs in text rewriting while maintaining a significantly reduced model size. Notably, we show that our proposed cascading approach improves model performance.

Recommender systems typically retrieve items from an item corpus for personalized recommendations. However, such a retrieval-based recommender paradigm faces two limitations: 1) the human-generated items in the corpus might fail to satisfy the users' diverse information needs, and 2) users usually adjust the recommendations via inefficient passive feedback, e.g., clicks. Nowadays, AI-Generated Content (AIGC) has revealed significant success, offering the potential to overcome these limitations: 1) generative AI can produce personalized items to satisfy users' information needs, and 2) the newly emerged large language models significantly reduce the efforts of users to precisely express information needs via natural language instructions. In this light, the boom of AIGC points the way towards the next-generation recommender paradigm with two new objectives: 1) generating personalized content through generative AI, and 2) integrating user instructions to guide content generation. To this end, we propose a novel Generative Recommender paradigm named GeneRec, which adopts an AI generator to personalize content generation and leverages user instructions. Specifically, we pre-process users' instructions and traditional feedback via an instructor to output the generation guidance. Given the guidance, we instantiate the AI generator through an AI editor and an AI creator to repurpose existing items and create new items. Eventually, GeneRec can perform content retrieval, repurposing, and creation to satisfy users' information needs. Besides, to ensure the trustworthiness of the generated items, we emphasize various fidelity checks. Moreover, we provide a roadmap to envision future developments of GeneRec and several domain-specific applications of GeneRec with potential research tasks. Lastly, we study the feasibility of implementing AI editor and AI creator on micro-video generation.

AI agents have drawn increasing attention mostly on their ability to perceive environments, understand tasks, and autonomously achieve goals. To advance research on AI agents in mobile scenarios, we introduce the Android Multi-annotation EXpo (AMEX), a comprehensive, large-scale dataset designed for generalist mobile GUI-control agents. Their capabilities of completing complex tasks by directly interacting with the graphical user interface (GUI) on mobile devices are trained and evaluated with the proposed dataset. AMEX comprises over 104K high-resolution screenshots from 110 popular mobile applications, which are annotated at multiple levels. Unlike existing mobile device-control datasets, e.g., MoTIF, AitW, etc., AMEX includes three levels of annotations: GUI interactive element grounding, GUI screen and element functionality descriptions, and complex natural language instructions, each averaging 13 steps with stepwise GUI-action chains. We develop this dataset from a more instructive and detailed perspective, complementing the general settings of existing datasets. Additionally, we develop a baseline model SPHINX Agent and compare its performance across state-of-the-art agents trained on other datasets. To facilitate further research, we open-source our dataset, models, and relevant evaluation tools. The project is available at https://yuxiangchai.github.io/AMEX/

Humans (e.g., crowdworkers) have a remarkable ability in solving different tasks, by simply reading textual instructions that define them and looking at a few examples. Despite the success of the conventional supervised learning on individual datasets, such models often struggle with generalization across tasks (e.g., a question-answering system cannot solve classification tasks). A long-standing challenge in AI is to build a model that learns a new task by understanding the human-readable instructions that define it. To study this, we introduce NATURAL INSTRUCTIONS, a dataset of 61 distinct tasks, their human-authored instructions, and 193k task instances (input-output pairs). The instructions are obtained from crowdsourcing instructions used to create existing NLP datasets and mapped to a unified schema. Using this meta-dataset, we measure cross-task generalization by training models on seen tasks and measuring generalization to the remaining unseen ones. We adopt generative pre-trained language models to encode task-specific instructions along with input and generate task output. Our results indicate that models benefit from instructions when evaluated in terms of generalization to unseen tasks (19% better for models utilizing instructions). These models, however, are far behind an estimated performance upperbound indicating significant room for more progress in this direction.

Users of natural language interfaces, generally powered by Large Language Models (LLMs),often must repeat their preferences each time they make a similar request. To alleviate this, we propose including some of a user's preferences and instructions in natural language -- collectively termed standing instructions -- as additional context for such interfaces. For example, when a user states I'm hungry, their previously expressed preference for Persian food will be automatically added to the LLM prompt, so as to influence the search for relevant restaurants. We develop NLSI, a language-to-program dataset consisting of over 2.4K dialogues spanning 17 domains, where each dialogue is paired with a user profile (a set of users specific standing instructions) and corresponding structured representations (API calls). A key challenge in NLSI is to identify which subset of the standing instructions is applicable to a given dialogue. NLSI contains diverse phenomena, from simple preferences to interdependent instructions such as triggering a hotel search whenever the user is booking tickets to an event. We conduct experiments on NLSI using prompting with large language models and various retrieval approaches, achieving a maximum of 44.7% exact match on API prediction. Our results demonstrate the challenges in identifying the relevant standing instructions and their interpretation into API calls.

A central challenge in reinforcement learning (RL) is its dependence on extensive real-world interaction data to learn task-specific policies. While recent work demonstrates that large language models (LLMs) can mitigate this limitation by generating synthetic experience (noted as imaginary rollouts) for mastering novel tasks, progress in this emerging field is hindered due to the lack of a standard benchmark. To bridge this gap, we introduce ImagineBench, the first comprehensive benchmark for evaluating offline RL algorithms that leverage both real rollouts and LLM-imaginary rollouts. The key features of ImagineBench include: (1) datasets comprising environment-collected and LLM-imaginary rollouts; (2) diverse domains of environments covering locomotion, robotic manipulation, and navigation tasks; and (3) natural language task instructions with varying complexity levels to facilitate language-conditioned policy learning. Through systematic evaluation of state-of-the-art offline RL algorithms, we observe that simply applying existing offline RL algorithms leads to suboptimal performance on unseen tasks, achieving 35.44% success rate in hard tasks in contrast to 64.37% of method training on real rollouts for hard tasks. This result highlights the need for algorithm advancements to better leverage LLM-imaginary rollouts. Additionally, we identify key opportunities for future research: including better utilization of imaginary rollouts, fast online adaptation and continual learning, and extension to multi-modal tasks. Our code is publicly available at https://github.com/LAMDA-RL/ImagineBench.

We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has achieved significant progress in simulation. To assess the implications of this work for robotics, we transfer a VLN agent trained in simulation to a physical robot. To bridge the gap between the high-level discrete action space learned by the VLN agent, and the robot's low-level continuous action space, we propose a subgoal model to identify nearby waypoints, and use domain randomization to mitigate visual domain differences. For accurate sim and real comparisons in parallel environments, we annotate a 325m2 office space with 1.3km of navigation instructions, and create a digitized replica in simulation. We find that sim-to-real transfer to an environment not seen in training is successful if an occupancy map and navigation graph can be collected and annotated in advance (success rate of 46.8% vs. 55.9% in sim), but much more challenging in the hardest setting with no prior mapping at all (success rate of 22.5%).

Large Language Models (LLMs) have demonstrated impressive potential in translating natural language (NL) instructions into program code. However, user instructions often contain inherent ambiguities, making it challenging for LLMs to generate code that accurately reflects the user's true intent. To address this challenge, researchers have proposed to produce multiple candidates of the program code and then rerank them to identify the best solution. In this paper, we propose CodeRSA, a novel code candidate reranking mechanism built upon the Rational Speech Act (RSA) framework, designed to guide LLMs toward more comprehensive pragmatic reasoning about user intent. We evaluate CodeRSA using one of the latest LLMs on a popular code generation dataset. Our experiment results show that CodeRSA consistently outperforms common baselines, surpasses the state-of-the-art approach in most cases, and demonstrates robust overall performance. These findings underscore the effectiveness of integrating pragmatic reasoning into code candidate reranking, offering a promising direction for enhancing code generation quality in LLMs.

Large multimodal models have demonstrated impressive problem-solving abilities in vision and language tasks, and have the potential to encode extensive world knowledge. However, it remains an open challenge for these models to perceive, reason, plan, and act in realistic environments. In this work, we introduce Can-Do, a benchmark dataset designed to evaluate embodied planning abilities through more diverse and complex scenarios than previous datasets. Our dataset includes 400 multimodal samples, each consisting of natural language user instructions, visual images depicting the environment, state changes, and corresponding action plans. The data encompasses diverse aspects of commonsense knowledge, physical understanding, and safety awareness. Our fine-grained analysis reveals that state-of-the-art models, including GPT-4V, face bottlenecks in visual perception, comprehension, and reasoning abilities. To address these challenges, we propose NeuroGround, a neurosymbolic framework that first grounds the plan generation in the perceived environment states and then leverages symbolic planning engines to augment the model-generated plans. Experimental results demonstrate the effectiveness of our framework compared to strong baselines. Our code and dataset are available at https://embodied-planning.github.io.

We introduce a large-scale dataset for instruction-guided vector image editing, consisting of over 270,000 pairs of SVG images paired with natural language edit instructions. Our dataset enables training and evaluation of models that modify vector graphics based on textual commands. We describe the data collection process, including image pairing via CLIP similarity and instruction generation with vision-language models. Initial experiments with state-of-the-art large language models reveal that current methods struggle to produce accurate and valid edits, underscoring the challenge of this task. To foster research in natural language-driven vector graphic generation and editing, we make our resources created within this work publicly available.

Instruction tuning enables pretrained language models to perform new tasks from inference-time natural language descriptions. These approaches rely on vast amounts of human supervision in the form of crowdsourced datasets or user interactions. In this work, we introduce Unnatural Instructions: a large dataset of creative and diverse instructions, collected with virtually no human labor. We collect 64,000 examples by prompting a language model with three seed examples of instructions and eliciting a fourth. This set is then expanded by prompting the model to rephrase each instruction, creating a total of approximately 240,000 examples of instructions, inputs, and outputs. Experiments show that despite containing a fair amount of noise, training on Unnatural Instructions rivals the effectiveness of training on open-source manually-curated datasets, surpassing the performance of models such as T0++ and Tk-Instruct across various benchmarks. These results demonstrate the potential of model-generated data as a cost-effective alternative to crowdsourcing for dataset expansion and diversification.

Recent methods for embodied instruction following are typically trained end-to-end using imitation learning. This often requires the use of expert trajectories and low-level language instructions. Such approaches assume that neural states will integrate multimodal semantics to perform state tracking, building spatial memory, exploration, and long-term planning. In contrast, we propose a modular method with structured representations that (1) builds a semantic map of the scene and (2) performs exploration with a semantic search policy, to achieve the natural language goal. Our modular method achieves SOTA performance (24.46 %) with a substantial (8.17 % absolute) gap from previous work while using less data by eschewing both expert trajectories and low-level instructions. Leveraging low-level language, however, can further increase our performance (26.49 %). Our findings suggest that an explicit spatial memory and a semantic search policy can provide a stronger and more general representation for state-tracking and guidance, even in the absence of expert trajectories or low-level instructions.

Mobile agents that can leverage help from humans can potentially accomplish more complex tasks than they could entirely on their own. We develop "Help, Anna!" (HANNA), an interactive photo-realistic simulator in which an agent fulfills object-finding tasks by requesting and interpreting natural language-and-vision assistance. An agent solving tasks in a HANNA environment can leverage simulated human assistants, called ANNA (Automatic Natural Navigation Assistants), which, upon request, provide natural language and visual instructions to direct the agent towards the goals. To address the HANNA problem, we develop a memory-augmented neural agent that hierarchically models multiple levels of decision-making, and an imitation learning algorithm that teaches the agent to avoid repeating past mistakes while simultaneously predicting its own chances of making future progress. Empirically, our approach is able to ask for help more effectively than competitive baselines and, thus, attains higher task success rate on both previously seen and previously unseen environments. We publicly release code and data at https://github.com/khanhptnk/hanna . A video demo is available at https://youtu.be/18P94aaaLKg .

With the success of Neural Radiance Field (NeRF) in 3D-aware portrait editing, a variety of works have achieved promising results regarding both quality and 3D consistency. However, these methods heavily rely on per-prompt optimization when handling natural language as editing instructions. Due to the lack of labeled human face 3D datasets and effective architectures, the area of human-instructed 3D-aware editing for open-world portraits in an end-to-end manner remains under-explored. To solve this problem, we propose an end-to-end diffusion-based framework termed InstructPix2NeRF, which enables instructed 3D-aware portrait editing from a single open-world image with human instructions. At its core lies a conditional latent 3D diffusion process that lifts 2D editing to 3D space by learning the correlation between the paired images' difference and the instructions via triplet data. With the help of our proposed token position randomization strategy, we could even achieve multi-semantic editing through one single pass with the portrait identity well-preserved. Besides, we further propose an identity consistency module that directly modulates the extracted identity signals into our diffusion process, which increases the multi-view 3D identity consistency. Extensive experiments verify the effectiveness of our method and show its superiority against strong baselines quantitatively and qualitatively. Source code and pre-trained models can be found on our project page: https://mybabyyh.github.io/InstructPix2NeRF.

We introduce SymbolicAI, a versatile and modular framework employing a logic-based approach to concept learning and flow management in generative processes. SymbolicAI enables the seamless integration of generative models with a diverse range of solvers by treating large language models (LLMs) as semantic parsers that execute tasks based on both natural and formal language instructions, thus bridging the gap between symbolic reasoning and generative AI. We leverage probabilistic programming principles to tackle complex tasks, and utilize differentiable and classical programming paradigms with their respective strengths. The framework introduces a set of polymorphic, compositional, and self-referential operations for data stream manipulation, aligning LLM outputs with user objectives. As a result, we can transition between the capabilities of various foundation models endowed with zero- and few-shot learning capabilities and specialized, fine-tuned models or solvers proficient in addressing specific problems. In turn, the framework facilitates the creation and evaluation of explainable computational graphs. We conclude by introducing a quality measure and its empirical score for evaluating these computational graphs, and propose a benchmark that compares various state-of-the-art LLMs across a set of complex workflows. We refer to the empirical score as the "Vector Embedding for Relational Trajectory Evaluation through Cross-similarity", or VERTEX score for short. The framework codebase and benchmark are linked below.

Soft attention in Transformer-based Large Language Models (LLMs) is susceptible to incorporating irrelevant information from the context into its latent representations, which adversely affects next token generations. To help rectify these issues, we introduce System 2 Attention (S2A), which leverages the ability of LLMs to reason in natural language and follow instructions in order to decide what to attend to. S2A regenerates the input context to only include the relevant portions, before attending to the regenerated context to elicit the final response. In experiments, S2A outperforms standard attention-based LLMs on three tasks containing opinion or irrelevant information, QA, math word problems and longform generation, where S2A increases factuality and objectivity, and decreases sycophancy.

Scene text editing is a challenging task that involves modifying or inserting specified texts in an image while maintaining its natural and realistic appearance. Most previous approaches to this task rely on style-transfer models that crop out text regions and feed them into image transfer models, such as GANs. However, these methods are limited in their ability to change text style and are unable to insert texts into images. Recent advances in diffusion models have shown promise in overcoming these limitations with text-conditional image editing. However, our empirical analysis reveals that state-of-the-art diffusion models struggle with rendering correct text and controlling text style. To address these problems, we propose DIFFSTE to improve pre-trained diffusion models with a dual encoder design, which includes a character encoder for better text legibility and an instruction encoder for better style control. An instruction tuning framework is introduced to train our model to learn the mapping from the text instruction to the corresponding image with either the specified style or the style of the surrounding texts in the background. Such a training method further brings our method the zero-shot generalization ability to the following three scenarios: generating text with unseen font variation, e.g., italic and bold, mixing different fonts to construct a new font, and using more relaxed forms of natural language as the instructions to guide the generation task. We evaluate our approach on five datasets and demonstrate its superior performance in terms of text correctness, image naturalness, and style controllability. Our code is publicly available. https://github.com/UCSB-NLP-Chang/DiffSTE

Natural Language-conditioned reinforcement learning (RL) enables the agents to follow human instructions. Previous approaches generally implemented language-conditioned RL by providing human instructions in natural language (NL) and training a following policy. In this outside-in approach, the policy needs to comprehend the NL and manage the task simultaneously. However, the unbounded NL examples often bring much extra complexity for solving concrete RL tasks, which can distract policy learning from completing the task. To ease the learning burden of the policy, we investigate an inside-out scheme for natural language-conditioned RL by developing a task language (TL) that is task-related and unique. The TL is used in RL to achieve highly efficient and effective policy training. Besides, a translator is trained to translate NL into TL. We implement this scheme as TALAR (TAsk Language with predicAte Representation) that learns multiple predicates to model object relationships as the TL. Experiments indicate that TALAR not only better comprehends NL instructions but also leads to a better instruction-following policy that improves 13.4% success rate and adapts to unseen expressions of NL instruction. The TL can also be an effective task abstraction, naturally compatible with hierarchical RL.

High-quality, large-scale instructions are crucial for aligning large language models (LLMs), however, there is a severe shortage of instruction in the field of natural language understanding (NLU). Previous works on constructing NLU instructions mainly focus on information extraction (IE), neglecting tasks such as machine reading comprehension, question answering, and text classification. Furthermore, the lack of diversity in the data has led to a decreased generalization ability of trained LLMs in other NLU tasks and a noticeable decline in the fundamental model's general capabilities. To address this issue, we propose Hum, a large-scale, high-quality synthetic instruction corpus for NLU tasks, designed to enhance the NLU capabilities of LLMs. Specifically, Hum includes IE (either close IE or open IE), machine reading comprehension, text classification, and instruction generalist tasks, thereby enriching task diversity. Additionally, we introduce a human-LLMs collaborative mechanism to synthesize instructions, which enriches instruction diversity by incorporating guidelines, preference rules, and format variants. We conduct extensive experiments on 5 NLU tasks and 28 general capability evaluation datasets for LLMs. Experimental results show that Hum enhances the NLU capabilities of six LLMs by an average of 3.1\%, with no significant decline observed in other general capabilities.

Large language models are able to perform a task by conditioning on a few input-output demonstrations - a paradigm known as in-context learning. We show that language models can explicitly infer an underlying task from a few demonstrations by prompting them to generate a natural language instruction that fits the examples. To explore this ability, we introduce the instruction induction challenge, compile a dataset consisting of 24 tasks, and define a novel evaluation metric based on executing the generated instruction. We discover that, to a large extent, the ability to generate instructions does indeed emerge when using a model that is both large enough and aligned to follow instructions; InstructGPT achieves 65.7% of human performance in our execution-based metric, while the original GPT-3 model reaches only 9.8% of human performance. This surprising result suggests that instruction induction might be a viable learning paradigm in and of itself, where instead of fitting a set of latent continuous parameters to the data, one searches for the best description in the natural language hypothesis space.

Automatically producing instructions to modify one's posture could open the door to endless applications, such as personalized coaching and in-home physical therapy. Tackling the reverse problem (i.e., refining a 3D pose based on some natural language feedback) could help for assisted 3D character animation or robot teaching, for instance. Although a few recent works explore the connections between natural language and 3D human pose, none focus on describing 3D body pose differences. In this paper, we tackle the problem of correcting 3D human poses with natural language. To this end, we introduce the PoseFix dataset, which consists of several thousand paired 3D poses and their corresponding text feedback, that describe how the source pose needs to be modified to obtain the target pose. We demonstrate the potential of this dataset on two tasks: (1) text-based pose editing, that aims at generating corrected 3D body poses given a query pose and a text modifier; and (2) correctional text generation, where instructions are generated based on the differences between two body poses.

Natural language (NL) has long been the predominant format for human cognition and communication, and by extension, has been similarly pivotal in the development and application of Large Language Models (LLMs). Yet, besides NL, LLMs have seen various non-NL formats during pre-training, such as code and logical expression. NL's status as the optimal format for LLMs, particularly in single-LLM reasoning and multi-agent communication, has not been thoroughly examined. In this work, we challenge the default use of NL by exploring the utility of non-NL formats in these contexts. We show that allowing LLMs to autonomously select the most suitable format before reasoning or communicating leads to a 3.3 to 5.7\% improvement in reasoning efficiency for different LLMs, and up to a 72.7\% reduction in token usage in multi-agent communication, all while maintaining communicative effectiveness. Our comprehensive analysis further reveals that LLMs can devise a format from limited task instructions and that the devised format is effectively transferable across different LLMs. Intriguingly, the structured communication format decided by LLMs exhibits notable parallels with established agent communication languages, suggesting a natural evolution towards efficient, structured communication in agent communication. Our code is released at https://github.com/thunlp/AutoForm.

To enhance the performance of large language models (LLMs) in biomedical natural language processing (BioNLP) by introducing a domain-specific instruction dataset and examining its impact when combined with multi-task learning principles. We created the BioInstruct, comprising 25,005 instructions to instruction-tune LLMs(LLaMA 1 & 2, 7B & 13B version). The instructions were created by prompting the GPT-4 language model with three-seed samples randomly drawn from an 80 human curated instructions. We employed Low-Rank Adaptation(LoRA) for parameter-efficient fine-tuning. We then evaluated these instruction-tuned LLMs on several BioNLP tasks, which can be grouped into three major categories: question answering(QA), information extraction(IE), and text generation(GEN). We also examined whether categories(e.g., QA, IE, and generation) of instructions impact model performance. Comparing with LLMs without instruction-tuned, our instruction-tuned LLMs demonstrated marked performance gains: 17.3% in QA, 5.7% in IE, and 96% in Generation tasks. Our 7B-parameter instruction-tuned LLaMA 1 model was competitive or even surpassed other LLMs in the biomedical domain that were also fine-tuned from LLaMA 1 with vast domain-specific data or a variety of tasks. Our results also show that the performance gain is significantly higher when instruction fine-tuning is conducted with closely related tasks. Our findings align with the observations of multi-task learning, suggesting the synergies between two tasks. The BioInstruct dataset serves as a valuable resource and instruction tuned LLMs lead to the best performing BioNLP applications.

Long-horizon planning is hindered by challenges such as uncertainty accumulation, computational complexity, delayed rewards and incomplete information. This work proposes an approach to exploit the task hierarchy from human instructions to facilitate multi-robot planning. Using Large Language Models (LLMs), we propose a two-step approach to translate multi-sentence instructions into a structured language, Hierarchical Linear Temporal Logic (LTL), which serves as a formal representation for planning. Initially, LLMs transform the instructions into a hierarchical representation defined as Hierarchical Task Tree, capturing the logical and temporal relations among tasks. Following this, a domain-specific fine-tuning of LLM translates sub-tasks of each task into flat LTL formulas, aggregating them to form hierarchical LTL specifications. These specifications are then leveraged for planning using off-the-shelf planners. Our framework not only bridges the gap between instructions and algorithmic planning but also showcases the potential of LLMs in harnessing hierarchical reasoning to automate multi-robot task planning. Through evaluations in both simulation and real-world experiments involving human participants, we demonstrate that our method can handle more complex instructions compared to existing methods. The results indicate that our approach achieves higher success rates and lower costs in multi-robot task allocation and plan generation. Demos videos are available at https://youtu.be/7WOrDKxIMIs .

Information Extraction (IE) is an essential task in Natural Language Processing. Traditional methods have relied on coarse-grained extraction with simple instructions. However, with the emergence of Large Language Models (LLMs), there is a need to adapt IE techniques to leverage the capabilities of these models. This paper introduces a fine-grained IE benchmark dataset tailored for LLMs, employing augmented instructions for each information type, which includes task descriptions, extraction rules, output formats, and examples. Through extensive evaluations, we observe that encoder-decoder models, particularly T5 and FLAN-T5, perform well in generalizing to unseen information types, while ChatGPT exhibits greater adaptability to new task forms. Our results also indicate that performance is not solely dictated by model scale, and highlight the significance of architecture, data diversity, and learning techniques. This work paves the way for a more refined and versatile utilization of LLMs in Information Extraction.

The recently proposed ALFRED challenge task aims for a virtual robotic agent to complete complex multi-step everyday tasks in a virtual home environment from high-level natural language directives, such as "put a hot piece of bread on a plate". Currently, the best-performing models are able to complete less than 5% of these tasks successfully. In this work we focus on modeling the translation problem of converting natural language directives into detailed multi-step sequences of actions that accomplish those goals in the virtual environment. We empirically demonstrate that it is possible to generate gold multi-step plans from language directives alone without any visual input in 26% of unseen cases. When a small amount of visual information is incorporated, namely the starting location in the virtual environment, our best-performing GPT-2 model successfully generates gold command sequences in 58% of cases. Our results suggest that contextualized language models may provide strong visual semantic planning modules for grounded virtual agents.

We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation. Bi-LAT leverages joint position, velocity, and torque data from leader-follower teleoperation while also integrating visual and linguistic cues to dynamically adjust applied force. By encoding human instructions such as "softly grasp the cup" or "strongly twist the sponge" through a multimodal Transformer-based model, Bi-LAT learns to distinguish nuanced force requirements in real-world tasks. We demonstrate Bi-LAT's performance in (1) unimanual cup-stacking scenario where the robot accurately modulates grasp force based on language commands, and (2) bimanual sponge-twisting task that requires coordinated force control. Experimental results show that Bi-LAT effectively reproduces the instructed force levels, particularly when incorporating SigLIP among tested language encoders. Our findings demonstrate the potential of integrating natural language cues into imitation learning, paving the way for more intuitive and adaptive human-robot interaction. For additional material, please visit: https://mertcookimg.github.io/bi-lat/

Temporal Logic (TL) can be used to rigorously specify complex high-level specification for systems in many engineering applications. The translation between natural language (NL) and TL has been under-explored due to the lack of dataset and generalizable model across different application domains. In this paper, we propose an accurate and generalizable transformation framework of English instructions from NL to TL, exploring the use of Large Language Models (LLMs) at multiple stages. Our contributions are twofold. First, we develop a framework to create a dataset of NL-TL pairs combining LLMs and human annotation. We publish a dataset with 28K NL-TL pairs. Then, we finetune T5 models on the lifted versions (i.e., the specific Atomic Propositions (AP) are hidden) of the NL and TL. The enhanced generalizability originates from two aspects: 1) Usage of lifted NL-TL characterizes common logical structures, without constraints of specific domains. 2) Application of LLMs in dataset creation largely enhances corpus richness. We test the generalization of trained models on five varied domains. To achieve full NL-TL transformation, we either combine the lifted model with AP recognition task or do the further finetuning on each specific domain. During the further finetuning, our model achieves higher accuracy (>95%) using only <10% training data, compared with the baseline sequence to sequence (Seq2Seq) model.

AI assistants can now carry out tasks for users by directly interacting with website UIs. Current semantic parsing and slot-filling techniques cannot flexibly adapt to many different websites without being constantly re-trained. We propose FLIN, a natural language interface for web navigation that maps user commands to concept-level actions (rather than low-level UI actions), thus being able to flexibly adapt to different websites and handle their transient nature. We frame this as a ranking problem: given a user command and a webpage, FLIN learns to score the most relevant navigation instruction (involving action and parameter values). To train and evaluate FLIN, we collect a dataset using nine popular websites from three domains. Our results show that FLIN was able to adapt to new websites in a given domain.

Instruction-based Large Language Models (LLMs) have proven effective in numerous few-shot or zero-shot Natural Language Processing (NLP) tasks. However, creating human-annotated instruction data is time-consuming, expensive, and often limited in quantity and task diversity. Previous research endeavors have attempted to address this challenge by proposing frameworks capable of generating instructions in a semi-automated and task-agnostic manner directly from the model itself. Many of these efforts have relied on large API-only parameter-based models such as GPT-3.5 (175B), which are expensive, and subject to limits on a number of queries. This paper explores the performance of three open-source small LLMs such as LLaMA 2-7B, LLama 2-13B, and Mistral 7B, using a semi-automated framework, thereby reducing human intervention, effort, and cost required to generate an instruction dataset for fine-tuning LLMs. Furthermore, we demonstrate that incorporating a Reinforcement Learning (RL) based training algorithm into this LLMs-based framework leads to further enhancements. Our evaluation of the dataset reveals that these RL-based frameworks achieve a substantial improvements in 63-66% of the tasks compared to previous approaches.

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range of applications, from personal assistance to industrial robotics, emphasizing the importance of robots interacting flexibly, naturally and safely with humans. This paper presents an advanced architecture for robotic action planning that integrates communication, perception, and planning with Large Language Models (LLMs). Our system is designed to translate commands expressed in natural language into executable robot actions, incorporating environmental information and dynamically updating plans based on real-time feedback. The Planner Module is the core of the system where LLMs embedded in a modified ReAct framework are employed to interpret and carry out user commands. By leveraging their extensive pre-trained knowledge, LLMs can effectively process user requests without the need to introduce new knowledge on the changing environment. The modified ReAct framework further enhances the execution space by providing real-time environmental perception and the outcomes of physical actions. By combining robust and dynamic semantic map representations as graphs with control components and failure explanations, this architecture enhances a robot adaptability, task execution, and seamless collaboration with human users in shared and dynamic environments. Through the integration of continuous feedback loops with the environment the system can dynamically adjusts the plan to accommodate unexpected changes, optimizing the robot ability to perform tasks. Using a dataset of previous experience is possible to provide detailed feedback about the failure. Updating the LLMs context of the next iteration with suggestion on how to overcame the issue.

Foundation models have made significant strides in various applications, including text-to-image generation, panoptic segmentation, and natural language processing. This paper presents Instruct2Act, a framework that utilizes Large Language Models to map multi-modal instructions to sequential actions for robotic manipulation tasks. Specifically, Instruct2Act employs the LLM model to generate Python programs that constitute a comprehensive perception, planning, and action loop for robotic tasks. In the perception section, pre-defined APIs are used to access multiple foundation models where the Segment Anything Model (SAM) accurately locates candidate objects, and CLIP classifies them. In this way, the framework leverages the expertise of foundation models and robotic abilities to convert complex high-level instructions into precise policy codes. Our approach is adjustable and flexible in accommodating various instruction modalities and input types and catering to specific task demands. We validated the practicality and efficiency of our approach by assessing it on robotic tasks in different scenarios within tabletop manipulation domains. Furthermore, our zero-shot method outperformed many state-of-the-art learning-based policies in several tasks. The code for our proposed approach is available at https://github.com/OpenGVLab/Instruct2Act, serving as a robust benchmark for high-level robotic instruction tasks with assorted modality inputs.

Natural language provides an accessible and expressive interface to specify long-term tasks for robotic agents. However, non-experts are likely to specify such tasks with high-level instructions, which abstract over specific robot actions through several layers of abstraction. We propose that key to bridging this gap between language and robot actions over long execution horizons are persistent representations. We propose a persistent spatial semantic representation method, and show how it enables building an agent that performs hierarchical reasoning to effectively execute long-term tasks. We evaluate our approach on the ALFRED benchmark and achieve state-of-the-art results, despite completely avoiding the commonly used step-by-step instructions.

Time-series analysis is critical for a wide range of fields such as healthcare, finance, transportation, and energy, among many others. The practical applications often involve analyzing time-series data alongside contextual information in the form of natural language to support informed decisions. However, current time-series models are limited in their ability to perform reasoning that involves both time-series and their textual content. In this work, we address this gap by introducing Chat-TS, a large language model (LLM) based framework, designed to support reasoning over time series and textual data. Unlike traditional models, Chat-TS integrates time-series tokens into LLMs' vocabulary, enhancing its reasoning ability over both modalities without compromising the core natural language capabilities, enabling practical analysis and reasoning across modalities. To support learning and evaluation in this setup, we contribute new datasets: the TS Instruct Training Dataset which pairs diverse time-series data with relevant text instructions and responses for instruction tuning, the TS Instruct Question and Answer (QA) Gold Dataset which provides multiple-choice questions designed to evaluate multimodal reasoning, and a TS Instruct Quantitative Probing Set which contains a small subset of the TS Instruct QA tasks alongside math and decision-making questions for LLM evaluation. We designed a training strategy to preserve the inherent reasoning capabilities of LLMs while augmenting them for time-series reasoning. Experiments show that Chat-TS achieves state-of-the-art performance in multi-modal reasoning tasks by maintaining strong natural language proficiency while improving time-series reasoning. ~To ensure replicability and facilitate future research, all models, datasets, and code will be available at [\texttt{Github-URL].}

Annotated data has become the most important bottleneck in training accurate machine learning models, especially for areas that require domain expertise. A recent approach to deal with the above issue proposes using natural language explanations instead of labeling individual data points, thereby increasing human annotators' efficiency as well as decreasing costs substantially. This paper focuses on the task of turning these natural language descriptions into Python labeling functions by following a novel approach to semantic parsing with pre-trained text-to-text Transformers. In a series of experiments our approach achieves a new state of the art on the semantic parsing benchmark CoNaLa, surpassing the previous best approach by 3.7 BLEU points. Furthermore, on a manually constructed dataset of natural language descriptions-labeling functions pairs we achieve a BLEU of 0.39. Our approach can be regarded as a stepping stone towards models that are taught how to label in natural language, instead of being provided specific labeled samples. Our code, constructed dataset and models are available at https://github.com/ypapanik/t5-for-code-generation.

Image restoration is a fundamental problem that involves recovering a high-quality clean image from its degraded observation. All-In-One image restoration models can effectively restore images from various types and levels of degradation using degradation-specific information as prompts to guide the restoration model. In this work, we present the first approach that uses human-written instructions to guide the image restoration model. Given natural language prompts, our model can recover high-quality images from their degraded counterparts, considering multiple degradation types. Our method, InstructIR, achieves state-of-the-art results on several restoration tasks including image denoising, deraining, deblurring, dehazing, and (low-light) image enhancement. InstructIR improves +1dB over previous all-in-one restoration methods. Moreover, our dataset and results represent a novel benchmark for new research on text-guided image restoration and enhancement. Our code, datasets and models are available at: https://github.com/mv-lab/InstructIR

Large Language Models (LLMs) have significantly advanced natural language processing (NLP), providing versatile capabilities across various applications. However, their application to complex, domain-specific tasks, such as cyber-security, often faces substantial challenges. In this study, we introduce SecKnowledge and CyberPal.AI to address these challenges and train security-expert LLMs. SecKnowledge is a domain-knowledge-driven cyber-security instruction dataset, meticulously designed using years of accumulated expert knowledge in the domain through a multi-phase generation process. CyberPal.AI refers to a family of LLMs fine-tuned using SecKnowledge, aimed at building security-specialized LLMs capable of answering and following complex security-related instructions. Additionally, we introduce SecKnowledge-Eval, a comprehensive and diverse cyber-security evaluation benchmark, composed of an extensive set of cyber-security tasks we specifically developed to assess LLMs in the field of cyber-security, along with other publicly available security benchmarks. Our results show a significant average improvement of up to 24% over the baseline models, underscoring the benefits of our expert-driven instruction dataset generation process. These findings contribute to the advancement of AI-based cyber-security applications, paving the way for security-expert LLMs that can enhance threat-hunting and investigation processes.

Humans can ground natural language commands to tasks at both abstract and fine-grained levels of specificity. For instance, a human forklift operator can be instructed to perform a high-level action, like "grab a pallet" or a low-level action like "tilt back a little bit." While robots are also capable of grounding language commands to tasks, previous methods implicitly assume that all commands and tasks reside at a single, fixed level of abstraction. Additionally, methods that do not use multiple levels of abstraction encounter inefficient planning and execution times as they solve tasks at a single level of abstraction with large, intractable state-action spaces closely resembling real world complexity. In this work, by grounding commands to all the tasks or subtasks available in a hierarchical planning framework, we arrive at a model capable of interpreting language at multiple levels of specificity ranging from coarse to more granular. We show that the accuracy of the grounding procedure is improved when simultaneously inferring the degree of abstraction in language used to communicate the task. Leveraging hierarchy also improves efficiency: our proposed approach enables a robot to respond to a command within one second on 90% of our tasks, while baselines take over twenty seconds on half the tasks. Finally, we demonstrate that a real, physical robot can ground commands at multiple levels of abstraction allowing it to efficiently plan different subtasks within the same planning hierarchy.