Chain-based reasoning methods like chain of thought (CoT) play a rising role in solving reasoning tasks for large language models (LLMs). However, the causal illusions between \textit{a step of reasoning} and \textit{corresponding state transitions} are becoming a significant obstacle to advancing LLMs' reasoning capabilities, especially in long-range reasoning tasks. This paper proposes a non-chain-based reasoning framework for simultaneous consideration of causal significance and consistency, i.e., the Causal Significance and Consistency Enhancer (CSCE). We customize LLM's loss function utilizing treatment effect assessments to enhance its reasoning ability from two aspects: causal significance and consistency. This ensures that the model captures essential causal relationships and maintains robust and consistent performance across various scenarios. Additionally, we transform the reasoning process from the cascading multiple one-step reasoning commonly used in Chain-Based methods, like CoT, to a causal-enhanced method that outputs the entire reasoning process in one go, further improving the model's reasoning efficiency. Extensive experiments show that our method improves both the reasoning success rate and speed. These improvements further demonstrate that non-chain-based methods can also aid LLMs in completing reasoning tasks.

Service robots in human-centered environments such as hospitals, office buildings, and long-term care homes need to navigate while adhering to social norms to ensure the safety and comfortability of the people they are sharing the space with. Furthermore, they need to adapt to new social scenarios that can arise during robot navigation. In this paper, we present a novel Online Lifelong Vision Language architecture, OLiVia-Nav, which uniquely integrates vision-language models (VLMs) with an online lifelong learning framework for robot social navigation. We introduce a unique distillation approach, Social Context Contrastive Language Image Pre-training (SC-CLIP), to transfer the social reasoning capabilities of large VLMs to a lightweight VLM, in order for OLiVia-Nav to directly encode social and environment context during robot navigation. These encoded embeddings are used to generate and select robot social compliant trajectories. The lifelong learning capabilities of SC-CLIP enable OLiVia-Nav to update the lightweight VLM with robot trajectory predictions overtime as new social scenarios are encountered. We conducted extensive real-world experiments in diverse social navigation scenarios. The results showed that OLiVia-Nav outperformed existing state-of-the-art DRL and VLM methods in terms of mean squared error, Hausdorff loss, and personal space violation duration. Ablation studies also verified the design choices for OLiVia-Nav.

Object manipulation capabilities are essential skills that set apart embodied agents engaging with the world, especially in the realm of robotics. The ability to predict outcomes of interactions with objects is paramount in this setting. While model-based control methods have started to be employed for tackling manipulation tasks, they have faced challenges in accurately manipulating objects. As we analyze the causes of this limitation, we identify the cause of underperformance in the way current world models represent crucial positional information, especially about the target's goal specification for object positioning tasks. We introduce a general approach that empowers world model-based agents to effectively solve object-positioning tasks. We propose two declinations of this approach for generative world models: position-conditioned (PCP) and latent-conditioned (LCP) policy learning. In particular, LCP employs object-centric latent representations that explicitly capture object positional information for goal specification. This naturally leads to the emergence of multimodal capabilities, enabling the specification of goals through spatial coordinates or a visual goal. Our methods are rigorously evaluated across several manipulation environments, showing favorable performance compared to current model-based control approaches.

Despite the remarkable success of large language models (LLMs) on traditional natural language processing tasks, their planning ability remains a critical bottleneck in tackling complex multi-step reasoning tasks. Existing approaches mainly rely on prompting or task-specific fine-tuning, often suffering from weak robustness and cross-task generalization. To address the limitation, we introduce CODEPLAN, a scalable paradigm that empowers LLMs to generate and follow code-form plans pseudocode that outlines high-level, structured reasoning processes. By leveraging the structured and versatile nature of code, CODEPLAN effectively captures the rich semantics and control flows inherent to sophisticated reasoning. Importantly, CODEPLAN allows the automatic extraction of code-form plans from massive, wide-ranging text corpora without the need for curated, task-specific datasets. This enables it to scale up efficiently and improve reasoning capabilities across diverse scenarios. To train CODEPLAN, we construct a large-scale dataset of 2M examples that integrate code-form plans with standard prompt-response pairs from existing corpora. With minimal computation overhead during both training and inference, CODEPLAN achieves a 25.1% relative improvement compared with directly generating responses, averaged across 13 challenging multi-step reasoning benchmarks, spanning mathematical reasoning, symbolic reasoning, instruction-following, multi-hop QA, and decision-making tasks. Further analysis reveals CODEPLAN's increasing performance gains on more complex reasoning tasks, as well as significant data efficiency thanks to its generalization ability.

Human cognition can leverage fundamental conceptual knowledge, like geometric and kinematic ones, to appropriately perceive, comprehend and interact with novel objects. Motivated by this finding, we aim to endow machine intelligence with an analogous capability through performing at the conceptual level, in order to understand and then interact with articulated objects, especially for those in novel categories, which is challenging due to the intricate geometric structures and diverse joint types of articulated objects. To achieve this goal, we propose Analytic Ontology Template (AOT), a parameterized and differentiable program description of generalized conceptual ontologies. A baseline approach called AOTNet driven by AOTs is designed accordingly to equip intelligent agents with these generalized concepts, and then empower the agents to effectively discover the conceptual knowledge on the structure and affordance of articulated objects. The AOT-driven approach yields benefits in three key perspectives: i) enabling concept-level understanding of articulated objects without relying on any real training data, ii) providing analytic structure information, and iii) introducing rich affordance information indicating proper ways of interaction. We conduct exhaustive experiments and the results demonstrate the superiority of our approach in understanding and then interacting with articulated objects.

Out-of-distribution (OOD) detection aims to detect test samples outside the training category space, which is an essential component in building reliable machine learning systems. Existing reviews on OOD detection primarily focus on method taxonomy, surveying the field by categorizing various approaches. However, many recent works concentrate on non-traditional OOD detection scenarios, such as test-time adaptation, multi-modal data sources and other novel contexts. In this survey, we uniquely review recent advances in OOD detection from the problem scenario perspective for the first time. According to whether the training process is completely controlled, we divide OOD detection methods into training-driven and training-agnostic. Besides, considering the rapid development of pre-trained models, large pre-trained model-based OOD detection is also regarded as an important category and discussed separately. Furthermore, we provide a discussion of the evaluation scenarios, a variety of applications, and several future research directions. We believe this survey with new taxonomy will benefit the proposal of new methods and the expansion of more practical scenarios. A curated list of related papers is provided in the Github repository: \url{https://github.com/shuolucs/Awesome-Out-Of-Distribution-Detection}

World models, which encapsulate the dynamics of how actions affect environments, are foundational to the functioning of intelligent agents. In this work, we explore the potential of Large Language Models (LLMs) to operate as world models. Although LLMs are not inherently designed to model real-world dynamics, we show that they can be induced to perform two critical world model functions: determining the applicability of an action based on a given world state, and predicting the resulting world state upon action execution. This is achieved by fine-tuning two separate LLMs-one for precondition prediction and another for effect prediction-while leveraging synthetic data generation techniques. Through human-participant studies, we validate that the precondition and effect knowledge generated by our models aligns with human understanding of world dynamics. We also analyze the extent to which the world model trained on our synthetic data results in an inferred state space that supports the creation of action chains, a necessary property for planning.

Relational representation learning transforms relational data into continuous and low-dimensional vector representations. However, vector-based representations fall short in capturing crucial properties of relational data that are complex and symbolic. We propose geometric relational embeddings, a paradigm of relational embeddings that respect the underlying symbolic structures. Specifically, this dissertation introduces various geometric relational embedding models capable of capturing: 1) complex structured patterns like hierarchies and cycles in networks and knowledge graphs; 2) logical structures in ontologies and logical constraints applicable for constraining machine learning model outputs; and 3) high-order structures between entities and relations. Our results obtained from benchmark and real-world datasets demonstrate the efficacy of geometric relational embeddings in adeptly capturing these discrete, symbolic, and structured properties inherent in relational data.

End-to-end autonomous driving with vision-only is not only more cost-effective compared to LiDAR-vision fusion but also more reliable than traditional methods. To achieve a economical and robust purely visual autonomous driving system, we propose RenderWorld, a vision-only end-to-end autonomous driving framework, which generates 3D occupancy labels using a self-supervised gaussian-based Img2Occ Module, then encodes the labels by AM-VAE, and uses world model for forecasting and planning. RenderWorld employs Gaussian Splatting to represent 3D scenes and render 2D images greatly improves segmentation accuracy and reduces GPU memory consumption compared with NeRF-based methods. By applying AM-VAE to encode air and non-air separately, RenderWorld achieves more fine-grained scene element representation, leading to state-of-the-art performance in both 4D occupancy forecasting and motion planning from autoregressive world model.

While success in many robotics tasks can be determined by only observing the final state and how it differs from the initial state - e.g., if an apple is picked up - many tasks require observing the full motion of the robot to correctly determine success. For example, brushing hair requires repeated strokes that correspond to the contours and type of hair. Prior works often use off-the-shelf vision-language models (VLMs) as success detectors; however, when success depends on the full trajectory, VLMs struggle to make correct judgments for two reasons. First, modern VLMs are trained only on single frames, and cannot capture changes over a full trajectory. Second, even if we provide state-of-the-art VLMs with an aggregate input of multiple frames, they still fail to detect success due to a lack of robot data. Our key idea is to fine-tune VLMs using abstract representations that are able to capture trajectory-level information such as the path the robot takes by overlaying keypoint trajectories on the final image. We propose motion instruction fine-tuning (MotIF), a method that fine-tunes VLMs using the aforementioned abstract representations to semantically ground the robot's behavior in the environment. To benchmark and fine-tune VLMs for robotic motion understanding, we introduce the MotIF-1K dataset containing 653 human and 369 robot demonstrations across 13 task categories. MotIF assesses the success of robot motion given the image observation of the trajectory, task instruction, and motion description. Our model significantly outperforms state-of-the-art VLMs by at least twice in precision and 56.1% in recall, generalizing across unseen motions, tasks, and environments. Finally, we demonstrate practical applications of MotIF in refining and terminating robot planning, and ranking trajectories on how they align with task and motion descriptions. Project page: https://motif-1k.github.io