Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper presents LEGATO, a cross-embodiment imitation learning framework for visuomotor skill transfer across varied kinematic morphologies. We introduce a handheld gripper that unifies action and observation spaces, allowing tasks to be defined consistently across robots. Using this gripper, we train visuomotor policies via imitation learning, applying a motion-invariant transformation to compute the training loss. Gripper motions are then retargeted into high-degree-of-freedom whole-body motions using inverse kinematics for deployment across diverse embodiments. Our evaluations in simulation and real-robot experiments highlight the framework's effectiveness in learning and transferring visuomotor skills across various robots. More information can be found at the project page: https://ut-hcrl.github.io/LEGATO.

We propose an object-centric recovery policy framework to address the challenges of out-of-distribution (OOD) scenarios in visuomotor policy learning. Previous behavior cloning (BC) methods rely heavily on a large amount of labeled data coverage, failing in unfamiliar spatial states. Without relying on extra data collection, our approach learns a recovery policy constructed by an inverse policy inferred from object keypoint manifold gradient in the original training data. The recovery policy serves as a simple add-on to any base visuomotor BC policy, agnostic to a specific method, guiding the system back towards the training distribution to ensure task success even in OOD situations. We demonstrate the effectiveness of our object-centric framework in both simulation and real robot experiments, achieving an improvement of 77.7% over the base policy in OOD. Project Website: https://sites.google.com/view/ocr-penn

In this paper, we introduce Hunyuan-Large, which is currently the largest open-source Transformer-based mixture of experts model, with a total of 389 billion parameters and 52 billion activation parameters, capable of handling up to 256K tokens. We conduct a thorough evaluation of Hunyuan-Large's superior performance across various benchmarks including language understanding and generation, logical reasoning, mathematical problem-solving, coding, long-context, and aggregated tasks, where it outperforms LLama3.1-70B and exhibits comparable performance when compared to the significantly larger LLama3.1-405B model. Key practice of Hunyuan-Large include large-scale synthetic data that is orders larger than in previous literature, a mixed expert routing strategy, a key-value cache compression technique, and an expert-specific learning rate strategy. Additionally, we also investigate the scaling laws and learning rate schedule of mixture of experts models, providing valuable insights and guidances for future model development and optimization. The code and checkpoints of Hunyuan-Large are released to facilitate future innovations and applications. Codes: https://github.com/Tencent/Hunyuan-Large Models: https://huggingface.co/tencent/Tencent-Hunyuan-Large

Non-uniform goal selection has the potential to improve the reinforcement learning (RL) of skills over uniform-random selection. In this paper, we introduce a method for learning a goal-selection policy in intrinsically-motivated goal-conditioned RL: "Diversity Progress" (DP). The learner forms a curriculum based on observed improvement in discriminability over its set of goals. Our proposed method is applicable to the class of discriminability-motivated agents, where the intrinsic reward is computed as a function of the agent's certainty of following the true goal being pursued. This reward can motivate the agent to learn a set of diverse skills without extrinsic rewards. We demonstrate empirically that a DP-motivated agent can learn a set of distinguishable skills faster than previous approaches, and do so without suffering from a collapse of the goal distribution -- a known issue with some prior approaches. We end with plans to take this proof-of-concept forward.

Large Language Models (LLMs) often struggle when prompted to generate content under specific constraints. However, in such cases it is often easy to check whether these constraints are satisfied or violated. Recent works have shown that LLMs can benefit from such "corrective feedback". Here we claim that this skill of LLMs can be significantly enhanced via training. We introduce an RL framework for teaching models to use such rewards, by simulating interaction sessions, and rewarding the model according to its ability to satisfy the constraints. We refer to our method as CORGI (Controlled Generation with RL for Guided Interaction), and evaluate it on a variety of controlled generation tasks using unlabeled training data. We find that CORGI consistently outperforms the baseline reinforcement learning method that does not incorporate conversational feedback. Furthermore, CORGI's interactive framework enables meta-learning, allowing the LLM to generalize better to guided interaction in new tasks. Our results clearly show that conversational optimization, when combined with reinforcement learning, significantly improves the effectiveness of LLMs in controlled generation contexts.

Efficient state space models (SSMs), such as linear recurrent neural networks and linear attention variants, offer computational advantages over Transformers but struggle with tasks requiring long-range in-context retrieval-like text copying, associative recall, and question answering over long contexts. Previous efforts to address these challenges have focused on architectural modifications, often reintroducing computational inefficiencies. In this paper, we propose a novel training procedure, Birdie, that significantly enhances the in-context retrieval capabilities of SSMs without altering their architecture. Our approach combines bidirectional input processing with dynamic mixtures of specialized pre-training objectives, optimized via reinforcement learning. We introduce a new bidirectional SSM architecture that seamlessly transitions from bidirectional context processing to causal generation. Experimental evaluations demonstrate that Birdie markedly improves performance on retrieval-intensive tasks such as multi-number phone book lookup, long paragraph question-answering, and infilling. This narrows the performance gap with Transformers, while retaining computational efficiency. Our findings highlight the importance of training procedures in leveraging the fixed-state capacity of SSMs, offering a new direction to advance their capabilities. All code and pre-trained models are available at https://www.github.com/samblouir/birdie, with support for JAX and PyTorch.

Large language models (LLMs) have demonstrated significant progress in various natural language generation and understanding tasks. However, their linguistic generalization capabilities remain questionable, raising doubts about whether these models learn language similarly to humans. While humans exhibit compositional generalization and linguistic creativity in language use, the extent to which LLMs replicate these abilities, particularly in morphology, is under-explored. In this work, we systematically investigate the morphological generalization abilities of LLMs through the lens of compositionality. We define morphemes as compositional primitives and design a novel suite of generative and discriminative tasks to assess morphological productivity and systematicity. Focusing on agglutinative languages such as Turkish and Finnish, we evaluate several state-of-the-art instruction-finetuned multilingual models, including GPT-4 and Gemini. Our analysis shows that LLMs struggle with morphological compositional generalization particularly when applied to novel word roots, with performance declining sharply as morphological complexity increases. While models can identify individual morphological combinations better than chance, their performance lacks systematicity, leading to significant accuracy gaps compared to humans.

Packing, initially utilized in the pre-training phase, is an optimization technique designed to maximize hardware resource efficiency by combining different training sequences to fit the model's maximum input length. Although it has demonstrated effectiveness during pre-training, there remains a lack of comprehensive analysis for the supervised fine-tuning (SFT) stage on the following points: (1) whether packing can effectively enhance training efficiency while maintaining performance, (2) the suitable size of the model and dataset for fine-tuning with the packing method, and (3) whether packing unrelated or related training samples might cause the model to either excessively disregard or over-rely on the context. In this paper, we perform extensive comparisons between SFT methods using padding and packing, covering SFT datasets ranging from 69K to 1.2M and models from 8B to 70B. This provides the first comprehensive analysis of the advantages and limitations of packing versus padding, as well as practical considerations for implementing packing in various training scenarios. Our analysis covers various benchmarks, including knowledge, reasoning, and coding, as well as GPT-based evaluations, time efficiency, and other fine-tuning parameters. We also open-source our code for fine-tuning and evaluation and provide checkpoints fine-tuned on datasets of different sizes, aiming to advance future research on packing methods. Code is available at: https://github.com/ShuheWang1998/Packing-Analysis?tab=readme-ov-file.

"Sure, I am happy to generate a story for you: Captain Lyra stood at the helm of her trusty ship, the Maelstrom's Fury, gazing out at the endless sea. [...] Lyra's eyes welled up with tears as she realized the bitter truth - she had sacrificed everything for fleeting riches, and lost the love of her crew, her family, and herself." Although this story, generated by a large language model, is captivating, one may wonder -- how would the story have unfolded if the model had chosen "Captain Maeve" as the protagonist instead? We cannot know. State-of-the-art large language models are stateless -- they maintain no internal memory or state. Given a prompt, they generate a sequence of tokens as an output using an autoregressive process. As a consequence, they cannot reason about counterfactual alternatives to tokens they have generated in the past. In this work, our goal is to enhance them with this functionality. To this end, we develop a causal model of token generation that builds upon the Gumbel-Max structural causal model. Our model allows any large language model to perform counterfactual token generation at almost no cost in comparison with vanilla token generation, it is embarrassingly simple to implement, and it does not require any fine-tuning nor prompt engineering. We implement our model on Llama 3 8B-Instruct and Ministral-8B-Instruct and conduct a qualitative and a quantitative analysis of counterfactually generated text. We conclude with a demonstrative application of counterfactual token generation for bias detection, unveiling interesting insights about the model of the world constructed by large language models.

The goal of this paper is to develop a multilingual classifier and conditional probability estimator of occupation codes for online job advertisements according in accordance with the International Standard Classification of Occupations (ISCO) extended with the Polish Classification of Occupations and Specializations (KZiS), which is analogous to the European Classification of Occupations. In this paper, we utilise a range of data sources, including a novel one, namely the Central Job Offers Database, which is a register of all vacancies submitted to Public Employment Offices. Their staff members code the vacancies according to the ISCO and KZiS. A hierarchical multi-class classifier has been developed based on the transformer architecture. The classifier begins by encoding the jobs found in advertisements to the widest 1-digit occupational group, and then narrows the assignment to a 6-digit occupation code. We show that incorporation of the hierarchical structure of occupations improves prediction accuracy by 1-2 percentage points, particularly for the hand-coded online job advertisements. Finally, a bilingual (Polish and English) and multilingual (24 languages) model is developed based on data translated using closed and open-source software. The open-source software is provided for the benefit of the official statistics community, with a particular focus on international comparability.