The deployment of large language models (LLMs) in healthcare has demonstrated substantial potential for enhancing clinical decision-making, administrative efficiency, and patient outcomes. However, the underrepresentation of diverse groups in the development and application of these models can perpetuate biases, leading to inequitable healthcare delivery. This paper presents a comprehensive scientometric analysis of LLM research for healthcare, including data from January 1, 2021, to June 16, 2024. By analyzing metadata from PubMed and Dimensions, including author affiliations, countries, and funding sources, we assess the diversity of contributors to LLM research. Our findings highlight significant gender and geographic disparities, with a predominance of male authors and contributions primarily from high-income countries (HICs). We introduce a novel journal diversity index based on Gini impurity to measure the inclusiveness of scientific publications. Our results underscore the necessity for greater representation in order to ensure the equitable application of LLMs in healthcare. We propose actionable strategies to enhance diversity and inclusivity in artificial intelligence research, with the ultimate goal of fostering a more inclusive and equitable future in healthcare innovation.

Recent strides in automatic speech recognition (ASR) have accelerated their application in the medical domain where their performance on accented medical named entities (NE) such as drug names, diagnoses, and lab results, is largely unknown. We rigorously evaluate multiple ASR models on a clinical English dataset of 93 African accents. Our analysis reveals that despite some models achieving low overall word error rates (WER), errors in clinical entities are higher, potentially posing substantial risks to patient safety. To empirically demonstrate this, we extract clinical entities from transcripts, develop a novel algorithm to align ASR predictions with these entities, and compute medical NE Recall, medical WER, and character error rate. Our results show that fine-tuning on accented clinical speech improves medical WER by a wide margin (25-34 % relative), improving their practical applicability in healthcare environments.

Compliance is a useful parametrization of tactile information that humans often utilize in manipulation tasks. It can be used to inform low-level contact-rich actions or characterize objects at a high-level. In robotic manipulation, existing approaches to estimate compliance have struggled to generalize across object shape and material. Using camera-based tactile sensors, we present a novel approach to parametrize compliance through Young's modulus E. We evaluate our method over a novel dataset of 285 common objects, including a wide array of shapes and materials with Young's moduli ranging from 5.0 kPa to 250 GPa. Data is collected over automated parallel grasps of each object. Combining analytical and data-driven approaches, we develop a hybrid system using a multi-tower neural network to analyze a sequence of tactile images from grasping. This system is shown to estimate the Young's modulus of unseen objects within an order of magnitude at 74.2% accuracy across our dataset. This is a drastic improvement over a purely analytical baseline, which exhibits only 28.9% accuracy. Importantly, this estimation system performs irrespective of object geometry and demonstrates robustness across object materials. Thus, it could be applied in a general robotic manipulation setting to characterize unknown objects and inform decision-making, for instance to sort produce by ripeness.

Facts extraction is pivotal for constructing knowledge graphs. Recently, the increasing demand for temporal facts in downstream tasks has led to the emergence of the task of temporal fact extraction. In this paper, we specifically address the extraction of temporal facts from natural language text. Previous studies fail to handle the challenge of establishing time-to-fact correspondences in complex sentences. To overcome this hurdle, we propose a timeline-based sentence decomposition strategy using large language models (LLMs) with in-context learning, ensuring a fine-grained understanding of the timeline associated with various facts. In addition, we evaluate the performance of LLMs for direct temporal fact extraction and get unsatisfactory results. To this end, we introduce TSDRE, a method that incorporates the decomposition capabilities of LLMs into the traditional fine-tuning of smaller pre-trained language models (PLMs). To support the evaluation, we construct ComplexTRED, a complex temporal fact extraction dataset. Our experiments show that TSDRE achieves state-of-the-art results on both HyperRED-Temporal and ComplexTRED datasets.

Large language models (LLMs) face issues in handling factual knowledge, making it vital to evaluate their true ability to understand facts. In this study, we introduce knowledge probing frameworks, BELIEF(-ICL), to evaluate the knowledge understanding ability of not only encoder-based PLMs but also decoder-based PLMs from diverse perspectives. BELIEFs utilize a multi-prompt dataset to evaluate PLM's accuracy, consistency, and reliability in factual knowledge understanding. To provide a more reliable evaluation with BELIEFs, we semi-automatically create MyriadLAMA, which has more diverse prompts than existing datasets. We validate the effectiveness of BELIEFs in correctly and comprehensively evaluating PLM's factual understanding ability through extensive evaluations. We further investigate key factors in learning facts in LLMs, and reveal the limitation of the prompt-based knowledge probing. The dataset is anonymously publicized.

Instruction-following large language models (LLMs), such as ChatGPT, have become increasingly popular with the general audience, many of whom are incorporating them into their daily routines. However, these LLMs inadvertently disclose personal or copyrighted information, which calls for a machine unlearning method to remove selective knowledge. Previous attempts sought to forget the link between the target information and its associated entities, but it rather led to generating undesirable responses about the target, compromising the end-user experience. In this work, we propose SNAP, an innovative framework designed to selectively unlearn information by 1) training an LLM with negative instructions to generate obliterated responses, 2) augmenting hard positives to retain the original LLM performance, and 3) applying the novel Wasserstein regularization to ensure adequate deviation from the initial weights of the LLM. We evaluate our framework on various NLP benchmarks and demonstrate that our approach retains the original LLM capabilities, while successfully unlearning the specified information.

The rapid development of large language models (LLMs) has shown promising practical results. However, their low interpretability often leads to errors in unforeseen circumstances, limiting their utility. Many works have focused on creating comprehensive evaluation systems, but previous benchmarks have primarily assessed problem-solving abilities while neglecting the response's uncertainty, which may result in unreliability. Recent methods for measuring LLM reliability are resource-intensive and unable to test black-box models. To address this, we propose UBENCH, a comprehensive benchmark for evaluating LLM reliability. UBENCH includes 3,978 multiple-choice questions covering knowledge, language, understanding, and reasoning abilities. Experimental results show that UBENCH has achieved state-of-the-art performance, while its single-sampling method significantly saves computational resources compared to baseline methods that require multiple samplings. Additionally, based on UBENCH, we evaluate the reliability of 15 popular LLMs, finding GLM4 to be the most outstanding, closely followed by GPT-4. We also explore the impact of Chain-of-Thought prompts, role-playing prompts, option order, and temperature on LLM reliability, analyzing the varying effects on different LLMs.

Quadrotors are among the most agile flying robots. Despite recent advances in learning-based control and computer vision, autonomous drones still rely on explicit state estimation. On the other hand, human pilots only rely on a first-person-view video stream from the drone onboard camera to push the platform to its limits and fly robustly in unseen environments. To the best of our knowledge, we present the first vision-based quadrotor system that autonomously navigates through a sequence of gates at high speeds while directly mapping pixels to control commands. Like professional drone-racing pilots, our system does not use explicit state estimation and leverages the same control commands humans use (collective thrust and body rates). We demonstrate agile flight at speeds up to 40km/h with accelerations up to 2g. This is achieved by training vision-based policies with reinforcement learning (RL). The training is facilitated using an asymmetric actor-critic with access to privileged information. To overcome the computational complexity during image-based RL training, we use the inner edges of the gates as a sensor abstraction. This simple yet robust, task-relevant representation can be simulated during training without rendering images. During deployment, a Swin-transformer-based gate detector is used. Our approach enables autonomous agile flight with standard, off-the-shelf hardware. Although our demonstration focuses on drone racing, we believe that our method has an impact beyond drone racing and can serve as a foundation for future research into real-world applications in structured environments.

We present CodeNav, an LLM agent that navigates and leverages previously unseen code repositories to solve user queries. In contrast to tool-use LLM agents that require ``registration'' of all relevant tools via manual descriptions within the LLM context, CodeNav automatically indexes and searches over code blocks in the target codebase, finds relevant code snippets, imports them, and uses them to iteratively generate a solution with execution feedback. To highlight the core-capabilities of CodeNav, we first showcase three case studies where we use CodeNav for solving complex user queries using three diverse codebases. Next, on three benchmarks, we quantitatively compare the effectiveness of code-use (which only has access to the target codebase) to tool-use (which has privileged access to all tool names and descriptions). Finally, we study the effect of varying kinds of tool and library descriptions on code-use performance, as well as investigate the advantage of the agent seeing source code as opposed to natural descriptions of code. All code will be made open source under a permissive license.

Large Language Models (LLMs) are increasingly being used in educational and learning applications. Research has demonstrated that controlling for style, to fit the needs of the learner, fosters increased understanding, promotes inclusion, and helps with knowledge distillation. To understand the capabilities and limitations of contemporary LLMs in style control, we evaluated five state-of-the-art models: GPT-3.5, GPT-4, GPT-4o, Llama-3, and Mistral-instruct-7B across two style control tasks. We observed significant inconsistencies in the first task, with model performances averaging between 5th and 8th grade reading levels for tasks intended for first-graders, and standard deviations up to 27.6. For our second task, we observed a statistically significant improvement in performance from 0.02 to 0.26. However, we find that even without stereotypes in reference texts, LLMs Figure 1: Overall view of this paper. We find that while often generated culturally insensitive content in-context learning can control for reading level and during their tasks. We provide a thorough analysis simplicity, it cannot do the same for vernacular English.