Understanding robot behaviors and experiences through natural language is crucial for developing intelligent and transparent robotic systems. Recent advancement in large language models (LLMs) makes it possible to translate complex, multi-modal robotic experiences into coherent, human-readable narratives. However, grounding real-world robot experiences into natural language is challenging due to many reasons, such as multi-modal nature of data, differing sample rates, and data volume. We introduce RONAR, an LLM-based system that generates natural language narrations from robot experiences, aiding in behavior announcement, failure analysis, and human interaction to recover failure. Evaluated across various scenarios, RONAR outperforms state-of-the-art methods and improves failure recovery efficiency. Our contributions include a multi-modal framework for robot experience narration, a comprehensive real-robot dataset, and empirical evidence of RONAR's effectiveness in enhancing user experience in system transparency and failure analysis.

Dense retrieval, which aims to encode the semantic information of arbitrary text into dense vector representations or embeddings, has emerged as an effective and efficient paradigm for text retrieval, consequently becoming an essential component in various natural language processing systems. These systems typically focus on optimizing the embedding space by attending to the relevance of text pairs, while overlooking the Boolean logic inherent in language, which may not be captured by current training objectives. In this work, we first investigate whether current retrieval systems can comprehend the Boolean logic implied in language. To answer this question, we formulate the task of Boolean Dense Retrieval and collect a benchmark dataset, BoolQuestions, which covers complex queries containing basic Boolean logic and corresponding annotated passages. Through extensive experimental results on the proposed task and benchmark dataset, we draw the conclusion that current dense retrieval systems do not fully understand Boolean logic in language, and there is a long way to go to improve our dense retrieval systems. Furthermore, to promote further research on enhancing the understanding of Boolean logic for language models, we explore Boolean operation on decomposed query and propose a contrastive continual training method that serves as a strong baseline for the research community.

JOURNAL OF L A T EX CLASS FILES, VOL. 18, NO. 9, SEPTEMBER 2020 1 K-means Derived Unsupervised Feature Selection using Improved ADMM Ziheng Sun, Chris Ding, and Jicong Fan Abstract --Feature selection is important for high-dimensional data analysis and is non-trivial in unsupervised learning problems such as dimensionality reduction and clustering. The goal of unsupervised feature selection is finding a subset of features such that the data points from different clusters are well separated. This paper presents a novel method called K-means Derived Unsupervised Feature Selection (K-means UFS). Unlike most existing spectral analysis based unsupervised feature selection methods, we select features using the objective of K-means. We develop an alternating direction method of multipliers (ADMM) to solve the NP-hard optimization problem of our K-means UFS model. Extensive experiments on real datasets show that our K-means UFS is more effective than the baselines in selecting features for clustering. I NTRODUCTION F EA TURE selection aims to select a subset among a large number of features and is particularly useful in dealing with high-dimensional data such as gene data in bioinformatics. The selected features should preserve the most important information of the data for downstream tasks such as classification and clustering. Many unsupervised feature selection methods have been proposed in the past decades.

We have come up with a research that hopes to provide a bridge between the users of American Sign Language and the users of spoken language and Indian Sign Language (ISL). The research enabled us to create a novel framework that we have developed for Learner Systems. Leveraging art of Large models to create key features including: - Real-time translation between these two sign languages in an efficient manner. Making LLM's capability available for seamless translations to ISL. Here is the full study showing its implementation in this paper. The core of the system is a sophisticated pipeline that begins with reclassification and recognition of ASL gestures based on a strong Random Forest Classifier. By recognizing the ASL, it is translated into text which can be more easily processed. Highly evolved natural language NLP (Natural Language Processing) techniques come in handy as they play a role in our LLM integration where you then use LLMs to be able to convert the ASL text to ISL which provides you with the intent of sentence or phrase. The final step is to synthesize the translated text back into ISL gestures, creating an end-to-end translation experience using RIFE-Net. This framework is tasked with key challenges such as automatically dealing with gesture variability and overcoming the linguistic differences between ASL and ISL. By automating the translation process, we hope to vastly improve accessibility for sign language users. No longer will the communication gap between ASL and ISL create barriers; this totally cool innovation aims to bring our communities closer together. And we believe, with full confidence in our framework, that we're able to apply the same principles across a wide variety of sign language dialects.

Graph Neural Networks (GNNs) and their message passing framework that leverages both structural and feature information, have become a standard method for solving graph-based machine learning problems. However, these approaches still struggle to generalise well beyond datasets that exhibit strong homophily, where nodes of the same class tend to connect. This limitation has led to the development of complex neural architectures that pose challenges in terms of efficiency and scalability. In response to these limitations, we focus on simpler and more scalable approaches and introduce Graph-aware Logistic Regression (GLR), a non-neural model designed for node classification tasks. Unlike traditional graph algorithms that use only a fraction of the information accessible to GNNs, our proposed model simultaneously leverages both node features and the relationships between entities. However instead of relying on message passing, our approach encodes each node's relationships as an additional feature vector, which is then combined with the node's self attributes. Extensive experimental results, conducted within a rigorous evaluation framework, show that our proposed GLR approach outperforms both foundational and sophisticated state-of-the-art GNN models in node classification tasks. Going beyond the traditional limited benchmarks, our experiments indicate that GLR increases generalisation ability while reaching performance gains in computation time up to two orders of magnitude compared to it best neural competitor.

Large language model unlearning aims to remove harmful information that LLMs have learnt to prevent their use for malicious purposes. LLMU and RMU have been proposed as two methods for LLM unlearning, achieving impressive results on unlearning benchmarks. We study in detail the efficacy of these methods by evaluating their impact on general model capabilities on the WMDP benchmark as well as a biology benchmark we create. Our experiments show that RMU generally leads to better preservation of model capabilities, for similar or better unlearning. We further test the robustness of these methods and find that doing 5-shot prompting or rephrasing the question in simple ways can lead to an over ten-fold increase in accuracy on unlearning benchmarks. Finally, we show that training on unrelated data can almost completely recover pre-unlearning performance, demonstrating that these methods fail at truly unlearning. The code is available at: https://github.com/JaiDoshi/Knowledge-Erasure.

This paper investigates the role of communication in improving coordination within robot swarms, focusing on a paradigm where learning and execution occur simultaneously in a decentralized manner. We highlight the role communication can play in addressing the credit assignment problem (individual contribution to the overall performance), and how it can be influenced by it. We propose a taxonomy of existing and future works on communication, focusing on information selection and physical abstraction as principal axes for classification: from low-level lossless compression with raw signal extraction and processing to high-level lossy compression with structured communication models. The paper reviews current research from evolutionary robotics, multi-agent (deep) reinforcement learning, language models, and biophysics models to outline the challenges and opportunities of communication in a collective of robots that continuously learn from one another through local message exchanges, illustrating a form of social learning.

This paper provides a comprehensive survey of the latest research on multilingual large language models (MLLMs). MLLMs not only are able to understand and generate language across linguistic boundaries, but also represent an important advancement in artificial intelligence. We first discuss the architecture and pre-training objectives of MLLMs, highlighting the key components and methodologies that contribute to their multilingual capabilities. We then discuss the construction of multilingual pre-training and alignment datasets, underscoring the importance of data quality and diversity in enhancing MLLM performance. An important focus of this survey is on the evaluation of MLLMs. We present a detailed taxonomy and roadmap covering the assessment of MLLMs' cross-lingual knowledge, reasoning, alignment with human values, safety, interpretability and specialized applications. Specifically, we extensively discuss multilingual evaluation benchmarks and datasets, and explore the use of LLMs themselves as multilingual evaluators. To enhance MLLMs from black to white boxes, we also address the interpretability of multilingual capabilities, cross-lingual transfer and language bias within these models. Finally, we provide a comprehensive review of real-world applications of MLLMs across diverse domains, including biology, medicine, computer science, mathematics and law. We showcase how these models have driven innovation and improvements in these specialized fields while also highlighting the challenges and opportunities in deploying MLLMs within diverse language communities and application scenarios. We listed the paper related in this survey and publicly available at https://github.com/tjunlp-lab/Awesome-Multilingual-LLMs-Papers.

We present a novel instruction tuning recipe to improve the zero-shot task generalization of multimodal large language models. In contrast to existing instruction tuning mechanisms that heavily rely on visual instructions, our approach focuses on language-based instruction tuning, offering a distinct and more training efficient path for multimodal instruction tuning. We evaluate the performance of the proposed approach on 9 unseen datasets across both language and vision modalities. Our results show that our language-only instruction tuning is able to significantly improve the performance of two pretrained multimodal models based on Llama 2 and Vicuna on those unseen datasets. Interestingly, the language instruction following ability also helps unlock the models to follow vision instructions without explicit training. Compared to the state of the art multimodal instruction tuning approaches that are mainly based on visual instructions, our language-based method not only achieves superior performance but also significantly enhances training efficiency. For instance, the language-only instruction tuning produces competitive average performance across the evaluated datasets (with even better performance on language datasets) with significant training efficiency improvements (on average 4x), thanks to the striking reduction in the need for vision data. With a small number of visual instructions, this emerging language instruction following ability transfers well to the unseen vision datasets, outperforming the state of the art with greater training efficiency.

Several recent works seek to develop foundation models specifically for medical applications, adapting general-purpose large language models (LLMs) and vision-language models (VLMs) via continued pretraining on publicly available biomedical corpora. These works typically claim that such domain-adaptive pretraining (DAPT) improves performance on downstream medical tasks, such as answering medical licensing exam questions. In this paper, we compare seven public "medical" LLMs and two VLMs against their corresponding base models, arriving at a different conclusion: all medical VLMs and nearly all medical LLMs fail to consistently improve over their base models in the zero-/few-shot prompting regime for medical question-answering (QA) tasks. For instance, across the tasks and model pairs we consider in the 3-shot setting, medical LLMs only outperform their base models in 12.1% of cases, reach a (statistical) tie in 49.8% of cases, and are significantly worse than their base models in the remaining 38.2% of cases. Our conclusions are based on (i) comparing each medical model head-to-head, directly against the corresponding base model; (ii) optimizing the prompts for each model separately; and (iii) accounting for statistical uncertainty in comparisons. While these basic practices are not consistently adopted in the literature, our ablations show that they substantially impact conclusions. Our findings suggest that state-of-the-art general-domain models may already exhibit strong medical knowledge and reasoning capabilities, and offer recommendations to strengthen the conclusions of future studies.