Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there exists a large gap between the homogeneous, curated plates existing feeding systems can handle, and truly in-the-wild meals. Feeding realistic plates is immensely challenging due to the sheer range of food items that a robot may encounter, each requiring specialized manipulation strategies which must be sequenced over a long horizon to feed an entire meal. An assistive feeding system should not only be able to sequence different strategies efficiently in order to feed an entire meal, but also be mindful of user preferences given the personalized nature of the task. We address this with FLAIR, a system for long-horizon feeding which leverages the commonsense and few-shot reasoning capabilities of foundation models, along with a library of parameterized skills, to plan and execute user-preferred and efficient bite sequences. In real-world evaluations across 6 realistic plates, we find that FLAIR can effectively tap into a varied library of skills for efficient food pickup, while adhering to the diverse preferences of 42 participants without mobility limitations as evaluated in a user study. We demonstrate the seamless integration of FLAIR with existing bite transfer methods [19, 28], and deploy it across 2 institutions and 3 robots, illustrating its adaptability. Finally, we illustrate the real-world efficacy of our system by successfully feeding a care recipient with severe mobility limitations. Supplementary materials and videos can be found at: https://emprise.cs.cornell.edu/flair .

Long sequences occur in abundance within real-world scenarios, hence properly modelling them opens numerous down-stream use-cases. Deep neural networks, however, have often struggled with these for a variety of reasons. Recent advances, both in system engineering as well as model design, have enabled the scaling up of model that are purported to support extended context length. In particular, the state-space and linear recurrent neural network families of models hypothetically can entend to infinite sequence lenth. However, is this too good to be true? We conduct an evaluation to show that while such claims may be sound theoretically, there remain large practical gaps that are empirically observed. In particular, recurrent models still suffer in the same settings as long-context LLMs with attention. We further show that different inductive biases have inconsistent extrapolation capabilities, highlighting the need to further study such paradigms and investigate why long-context models seemingly fail to behave as one might expect.

Despite recent advances in improving the sample-efficiency of reinforcement learning (RL) algorithms, designing an RL algorithm that can be practically deployed in real-world environments remains a challenge. In this paper, we present Coarse-to-fine Reinforcement Learning (CRL), a framework that trains RL agents to zoom-into a continuous action space in a coarse-to-fine manner, enabling the use of stable, sample-efficient value-based RL algorithms for fine-grained continuous control tasks. Our key idea is to train agents that output actions by iterating the procedure of (i) discretizing the continuous action space into multiple intervals and (ii) selecting the interval with the highest Q-value to further discretize at the next level. We then introduce a concrete, value-based algorithm within the CRL framework called Coarse-to-fine Q-Network (CQN). Our experiments demonstrate that CQN significantly outperforms RL and behavior cloning baselines on 20 sparsely-rewarded RLBench manipulation tasks with a modest number of environment interactions and expert demonstrations. We also show that CQN robustly learns to solve real-world manipulation tasks within a few minutes of online training.

Understanding documents with rich layouts and multi-modal components is a long-standing and practical task. Recent Large Vision-Language Models (LVLMs) have made remarkable strides in various tasks, particularly in single-page document understanding (DU). However, their abilities on long-context DU remain an open problem. This work presents MMLongBench-Doc, a long-context, multi-modal benchmark comprising 1,062 expert-annotated questions. Distinct from previous datasets, it is constructed upon 130 lengthy PDF-formatted documents with an average of 49.4 pages and 20,971 textual tokens. Towards comprehensive evaluation, answers to these questions rely on pieces of evidence from (1) different sources (text, image, chart, table, and layout structure) and (2) various locations (i.e. page number). Moreover, 33.2% of the questions are cross-page questions requiring evidence across multiple pages. 22.8% of the questions are designed to be unanswerable for detecting potential hallucinations. Experiments on 14 LVLMs demonstrate that long-context DU greatly challenges current models. Notably, the best-performing model, GPT-4o, achieves an F1 score of only 42.7%, while the second-best, GPT-4V, scores 31.4%. Furthermore, 12 LVLMs (all except GPT-4o and GPT-4V) even present worse performance than their LLM counterparts which are fed with lossy-parsed OCR documents. These results validate the necessity of future research toward more capable long-context LVLMs. Project Page: https://mayubo2333.github.io/MMLongBench-Doc

Abstract--Previous knowledge distillation (KD) methods mostly focus on compressing network architectures, which is not thorough enough in deployment as some costs like transmission bandwidth and imaging equipment are related to the image size. Therefore, we propose Pixel Distillation that extends knowledge distillation into the input level while simultaneously breaking architecture constraints. Such a scheme can achieve flexible cost control for deployment, as it allows the system to adjust both network architecture and image quality according to the overall requirement of resources. Specifically, we first propose an input spatial representation distillation (ISRD) mechanism to transfer spatial knowledge from large images to student's input module, which can facilitate stable knowledge transfer between CNN and ViT. Then, a Teacher-Assistant-Student (TAS) framework is further established to disentangle pixel distillation into the model compression stage and input compression stage, which significantly reduces the overall complexity of pixel distillation and the difficulty of distilling intermediate knowledge. Finally, we adapt pixel distillation to object detection via an aligned feature for preservation (AFP) strategy for TAS, which aligns output dimensions of detectors at each stage by manipulating features and anchors of the assistant. Comprehensive experiments on image classification and object detection demonstrate the effectiveness of our method. To deal with this situation, KD techniques that aim at using smaller network architectures received great attention Figure 1: (a) Compared to network architecture, input size has in the past few years--usually with fewer network an impact on more kinds of costs, including requirements for cameras and transmission bandwidth. Guangyu Guo is with Brain and Artificial Intelligence Laboratory, School of Automation, Northwestern Polytechnical University, Xi'an, China.

While the biases of language models in production are extensively documented, the biases of their guardrails have been neglected. This paper studies how contextual information about the user influences the likelihood of an LLM to refuse to execute a request. By generating user biographies that offer ideological and demographic information, we find a number of biases in guardrail sensitivity on GPT-3.5. Younger, female, and Asian-American personas are more likely to trigger a refusal guardrail when requesting censored or illegal information. Guardrails are also sycophantic, refusing to comply with requests for a political position the user is likely to disagree with. We find that certain identity groups and seemingly innocuous information, e.g., sports fandom, can elicit changes in guardrail sensitivity similar to direct statements of political ideology. For each demographic category and even for American football team fandom, we find that ChatGPT appears to infer a likely political ideology and modify guardrail behavior accordingly.

Having robots perform food preparation tasks has been of great interest in robotics. Imagine the scenario of making mashed potatoes, where a critical step is to peel potatoes. Humans peel potatoes by grasping the potato in one hand and using the second hand to actuate a peeler to remove the potato's skin. After a part of the potato is peeled, it is rotated while being held in the hand (i.e., in-hand manipulation) and peeled again. The sequence of rotating and peeling continues until all of the potato's skin is removed. In this work, we present a robotic system that can re-orient different vegetables using an Allegro hand in a way that their skin can be peeled using another manipulator. Our setup is shown in Figure 1 and Figure 2. In-hand rotation of vegetables is an instance of dexterous manipulation problem [1], a family of tasks that involves continuously controlling the force on an object while it is moving with respect to the fingertips [2, 3].

Many real-world applications require machine-learning models to be able to deal with non-stationary data distributions and thus learn autonomously over an extended period of time, often in an online setting. One of the main challenges in this scenario is the so-called catastrophic forgetting (CF) for which the learning model tends to focus on the most recent tasks while experiencing predictive degradation on older ones. In the online setting, the most effective solutions employ a fixed-size memory buffer to store old samples used for replay when training on new tasks. Many approaches have been presented to tackle this problem. However, it is not clear how predictive uncertainty information for memory management can be leveraged in the most effective manner and conflicting strategies are proposed to populate the memory. Are the easiest-to-forget or the easiest-to-remember samples more effective in combating CF? Starting from the intuition that predictive uncertainty provides an idea of the samples' location in the decision space, this work presents an in-depth analysis of different uncertainty estimates and strategies for populating the memory. The investigation provides a better understanding of the characteristics data points should have for alleviating CF. Then, we propose an alternative method for estimating predictive uncertainty via the generalised variance induced by the negative log-likelihood. Finally, we demonstrate that the use of predictive uncertainty measures helps in reducing CF in different settings.

This work continues to investigate the link between differentially private (DP) and online learning. Alon, Livni, Malliaris, and Moran (2019) showed that for binary concept classes, DP learnability of a given class implies that it has a finite Littlestone dimension (equivalently, that it is online learnable). Their proof relies on a model-theoretic result by Hodges (1997), which demonstrates that any binary concept class with a large Littlestone dimension contains a large subclass of thresholds. In a follow-up work, Jung, Kim, and Tewari (2020) extended this proof to multiclass PAC learning with a bounded number of labels. Unfortunately, Hodges's result does not apply in other natural settings such as multiclass PAC learning with an unbounded label space, and PAC learning of partial concept classes. This naturally raises the question of whether DP learnability continues to imply online learnability in more general scenarios: indeed, Alon, Hanneke, Holzman, and Moran (2021) explicitly leave it as an open question in the context of partial concept classes, and the same question is open in the general multiclass setting. In this work, we give a positive answer to these questions showing that for general classification tasks, DP learnability implies online learnability. Our proof reasons directly about Littlestone trees, without relying on thresholds. We achieve this by establishing several Ramsey-type theorems for trees, which might be of independent interest.

Hyperspherical Prototypical Learning (HPL) is a supervised approach to representation learning that designs class prototypes on the unit hypersphere. The prototypes bias the representations to class separation in a scale invariant and known geometry. Previous approaches to HPL have either of the following shortcomings: (i) they follow an unprincipled optimisation procedure; or (ii) they are theoretically sound, but are constrained to only one possible latent dimension. In this paper, we address both shortcomings. To address (i), we present a principled optimisation procedure whose solution we show is optimal. To address (ii), we construct well-separated prototypes in a wide range of dimensions using linear block codes. Additionally, we give a full characterisation of the optimal prototype placement in terms of achievable and converse bounds, showing that our proposed methods are near-optimal.