Lifelong learning offers a promising paradigm of building a generalist agent that learns and adapts over its lifespan. Unlike traditional lifelong learning problems in image and text domains, which primarily involve the transfer of declarative knowledge of entities and concepts, lifelong learning in decision-making (LLDM) also necessitates the transfer of procedural knowledge, such as actions and behaviors. To advance research in LLDM, we introduce LIBERO, a novel benchmark of lifelong learning for robot manipulation. Specifically, LIBERO highlights five key research topics in LLDM: 1) how to efficiently transfer declarative knowledge, procedural knowledge, or the mixture of both; 2) how to design effective policy architectures and 3) effective algorithms for LLDM; 4) the robustness of a lifelong learner with respect to task ordering; and 5) the effect of model pretraining for LLDM. We develop an extendible procedural generation pipeline that can in principle generate infinitely many tasks. For benchmarking purpose, we create four task suites (130 tasks in total) that we use to investigate the above-mentioned research topics. To support sample-efficient learning, we provide high-quality human-teleoperated demonstration data for all tasks. Our extensive experiments present several insightful or even unexpected discoveries: sequential finetuning outperforms existing lifelong learning methods in forward transfer, no single visual encoder architecture excels at all types of knowledge transfer, and naive supervised pretraining can hinder agents' performance in the subsequent LLDM. Check the website at https://libero-project.github.io for the code and the datasets.

Language models (LMs) with less than 100B parameters are known to perform poorly on chain-of-thought (CoT) reasoning in contrast to large LMs when solving unseen tasks. In this work, we aim to equip smaller LMs with the step-by-step reasoning capability by instruction tuning with CoT rationales. In order to achieve this goal, we first introduce a new instruction-tuning dataset called the CoT Collection, which augments the existing Flan Collection (including only 9 CoT tasks) with additional 1.84 million rationales across 1,060 tasks. We show that CoT fine-tuning Flan-T5 (3B & 11B) with CoT Collection enables smaller LMs to have better CoT capabilities on unseen tasks. On the BIG-Bench-Hard (BBH) benchmark, we report an average improvement of +4.34% (Flan-T5 3B) and +2.60% (Flan-T5 11B), in terms of zero-shot task accuracy. Furthermore, we show that instruction tuning with CoT Collection allows LMs to possess stronger few-shot learning capabilities on 4 domain-specific tasks, resulting in an improvement of +2.24% (Flan-T5 3B) and +2.37% (Flan-T5 11B), even outperforming ChatGPT utilizing demonstrations until the max length by a +13.98% margin. Our code, the CoT Collection data, and model checkpoints are publicly available.

Combining large language models with logical reasoning enhance their capacity to address problems in a robust and reliable manner. Nevertheless, the intricate nature of logical reasoning poses challenges to gathering reliable data from web for building comprehensive training datasets, subsequently affecting the performance on downstream tasks. To address this, we introduce a novel logic-driven data augmentation approach, AMR-LDA. AMR-LDA converts the original text into an Abstract Meaning Representation (AMR) graph, a structured semantic representation that encapsulates the logic structure of the sentence, upon which operations are performed to generate logically modified AMR graphs. The modified AMR graphs are subsequently converted back into texts to create augmented data. Notably, our methodology is architecture-agnostic and enhances generative large language models, such as GPT-3.5 and GPT-4, through prompt augmentation, and fine-tuning discriminative large language models through contrastive learning with logic-driven data augmentation. Empirical evidence underscores the efficacy of our proposed method with improvement in performance across seven downstream tasks, such as logical reasoning reading comprehension, textual entailment, and natural language inference. Furthermore, our method ranked first on the ReClor leaderboard \url{https://eval.ai/web/challenges/challenge-page/503/leaderboard/1347}. The source code and data are publicly available \url{https://github.com/Strong-AI-Lab/Logical-Equivalence-driven-AMR-Data-Augmentation-for-Representation-Learning}.

Most people who have tried to learn a foreign language would have experienced difficulties understanding or speaking with a native speaker's accent. For native speakers, understanding or speaking a new accent is likewise a difficult task. An accent conversion system that changes a speaker's accent but preserves that speaker's voice identity, such as timbre and pitch, has the potential for a range of applications, such as communication, language learning, and entertainment. Existing accent conversion models tend to change the speaker identity and accent at the same time. Here, we use adversarial learning to disentangle accent dependent features while retaining other acoustic characteristics. What sets our work apart from existing accent conversion models is the capability to convert an unseen speaker's utterance to multiple accents while preserving its original voice identity. Subjective evaluations show that our model generates audio that sound closer to the target accent and like the original speaker.

This paper explores the generalization characteristics of iterative learning algorithms with bounded updates for non-convex loss functions, employing information-theoretic techniques. Our key contribution is a novel bound for the generalization error of these algorithms with bounded updates. Our approach introduces two main novelties: 1) we reformulate the mutual information as the uncertainty of updates, providing a new perspective, and 2) instead of using the chaining rule of mutual information, we employ a variance decomposition technique to decompose information across iterations, allowing for a simpler surrogate process. We analyze our generalization bound under various settings and demonstrate improved bounds. To bridge the gap between theory and practice, we also examine the previously observed scaling behavior in large language models. Ultimately, our work takes a further step for developing practical generalization theories. The majority of machine learning techniques utilize the empirical risk minimization framework. Within this framework, the optimization objective is to minimize empirical risk, which is the average risk over a finite set of training samples.

This research paper focuses on the challenges posed by hallucinations in large language models (LLMs), particularly in the context of the medical domain. Hallucination, wherein these models generate plausible yet unverified or incorrect information, can have serious consequences in healthcare applications. We propose a new benchmark and dataset, Med-HALT (Medical Domain Hallucination Test), designed specifically to evaluate and reduce hallucinations. Med-HALT provides a diverse multinational dataset derived from medical examinations across various countries and includes multiple innovative testing modalities. Med-HALT includes two categories of tests reasoning and memory-based hallucination tests, designed to assess LLMs's problem-solving and information retrieval abilities. Our study evaluated leading LLMs, including Text Davinci, GPT-3.5, LlaMa-2, MPT, and Falcon, revealing significant differences in their performance. The paper provides detailed insights into the dataset, promoting transparency and reproducibility. Through this work, we aim to contribute to the development of safer and more reliable language models in healthcare. Our benchmark can be found at medhalt.github.io

We develop two "Nesterov's accelerated" variants of the well-known extragradient method to approximate a solution of a co-hypomonotone inclusion constituted by the sum of two operators, where one is Lipschitz continuous and the other is possibly multivalued. The first scheme can be viewed as an accelerated variant of Tseng's forward-backward-forward splitting (FBFS) method, while the second one is a Nesterov's accelerated variant of the "past" FBFS scheme, which requires only one evaluation of the Lipschitz operator and one resolvent of the multivalued mapping. Under appropriate conditions on the parameters, we theoretically prove that both algorithms achieve $\mathcal{O}(1/k)$ last-iterate convergence rates on the residual norm, where $k$ is the iteration counter. Our results can be viewed as alternatives of a recent class of Halpern-type methods for root-finding problems. For comparison, we also provide a new convergence analysis of the two recent extra-anchored gradient-type methods for solving co-hypomonotone inclusions.

The Greek word for "purple" has been extracted from a Herculaneum scroll Almost 2000 years after they were buried by the volcanic eruption of Mount Vesuvius in AD 79, scrolls from a library in the ancient Roman town of Herculaneum have begun to reveal their secrets. The tightly wrapped papyrus scrolls were charred in the disaster, which also destroyed the nearby town of Pompeii. But by studying 3D X-ray scans of the scrolls, researchers have deciphered a word on one of them: "porphyras", meaning "purple". The breakthrough came from Luke Farritor, a 21-year-old computer science student at the University of Nebraska-Lincoln. His success involved training an AI to identify nearly invisible ink-like patterns in the 3D scans. "Seeing Luke's first word was a shock," says Michael McOsker at the University College London in the UK, who was not involved in the discovery.

Recent advancements in reasoning abilities of Large Language Models (LLM) has promoted their usage in problems that require high-level planning for robots and artificial agents. However, current techniques that utilize LLMs for such planning tasks make certain key assumptions such as, access to datasets that permit finetuning, meticulously engineered prompts that only provide relevant and essential information to the LLM, and most importantly, a deterministic approach to allow execution of the LLM responses either in the form of existing policies or plan operators. In this work, we propose LgTS (LLM-guided Teacher-Student learning), a novel approach that explores the planning abilities of LLMs to provide a graphical representation of the sub-goals to a reinforcement learning (RL) agent that does not have access to the transition dynamics of the environment. The RL agent uses Teacher-Student learning algorithm to learn a set of successful policies for reaching the goal state from the start state while simultaneously minimizing the number of environmental interactions. Unlike previous methods that utilize LLMs, our approach does not assume access to a propreitary or a fine-tuned LLM, nor does it require pre-trained policies that achieve the sub-goals proposed by the LLM. Through experiments on a gridworld based DoorKey domain and a search-and-rescue inspired domain, we show that generating a graphical structure of sub-goals helps in learning policies for the LLM proposed sub-goals and the Teacher-Student learning algorithm minimizes the number of environment interactions when the transition dynamics are unknown.

In this paper, we focus on a general yet important learning problem, pairwise similarity learning (PSL). PSL subsumes a wide range of important applications, such as open-set face recognition, speaker verification, image retrieval and person re-identification. The goal of PSL is to learn a pairwise similarity function assigning a higher similarity score to positive pairs (i.e., a pair of samples with the same label) than to negative pairs (i.e., a pair of samples with different label). We start by identifying a key desideratum for PSL, and then discuss how existing methods can achieve this desideratum. We then propose a surprisingly simple proxy-free method, called SimPLE, which requires neither feature/proxy normalization nor angular margin and yet is able to generalize well in open-set recognition. We apply the proposed method to three challenging PSL tasks: open-set face recognition, image retrieval and speaker verification. Comprehensive experimental results on large-scale benchmarks show that our method performs significantly better than current state-of-the-art methods.