We introduce Generalizable 3D-Language Feature Fields (g3D-LF), a 3D representation model pre-trained on large-scale 3D-language dataset for embodied tasks. Our g3D-LF processes posed RGB-D images from agents to encode feature fields for: 1) Novel view representation predictions from any position in the 3D scene; 2) Generations of BEV maps centered on the agent; 3) Querying targets using multi-granularity language within the above-mentioned representations. Our representation can be generalized to unseen environments, enabling real-time construction and dynamic updates. By volume rendering latent features along sampled rays and integrating semantic and spatial relationships through multiscale encoders, our g3D-LF produces representations at different scales and perspectives, aligned with multi-granularity language, via multi-level contrastive learning. Furthermore, we prepare a large-scale 3D-language dataset to align the representations of the feature fields with language. Extensive experiments on Vision-and-Language Navigation under both Panorama and Monocular settings, Zero-shot Object Navigation, and Situated Question Answering tasks highlight the significant advantages and effectiveness of our g3D-LF for embodied tasks.

Utilizing large language models (LLMs) for tool planning has emerged as a promising avenue for developing general AI systems, where LLMs automatically schedule external tools (e.g. vision models) to tackle complex tasks based on task descriptions. To push this paradigm toward practical applications, it is crucial for LLMs to consider tool execution costs (e.g. execution time) for tool planning. Unfortunately, prior studies overlook the tool execution costs, leading to the generation of expensive plans of which the costs outweigh task performance. To fill this gap, we propose the Cost-Aware Tool Planning with LLMs (CATP-LLM) framework, which for the first time provides a coherent design to empower LLMs for cost-aware tool planning. Specifically, CATP-LLM incorporates a tool planning language to enhance the LLM to generate non-sequential plans of multiple branches for efficient concurrent tool execution and cost reduction. Moreover, it further designs a cost-aware offline reinforcement learning algorithm to fine-tune the LLM to optimize the performance-cost trade-off in tool planning. In lack of public cost-related datasets, we further present OpenCATP, the first platform for cost-aware planning evaluation. Experiments on OpenCATP show that CATP-LLM outperforms GPT-4 even when using Llama2-7B as its backbone, with the average improvement of 28.2%-30.2% higher plan performance and 24.7%-45.8% lower costs even on the challenging planning tasks. The codes of CATP-LLM and OpenCATP will be publicly available.

The deployment of autonomous vehicles controlled by machine learning techniques requires extensive testing in diverse real-world environments, robust handling of edge cases and out-of-distribution scenarios, and comprehensive safety validation to ensure that these systems can navigate safely and effectively under unpredictable conditions. Addressing Out-Of-Distribution (OOD) driving scenarios is essential for enhancing safety, as OOD scenarios help validate the reliability of the models within the vehicle's autonomy stack. However, generating OOD scenarios is challenging due to their long-tailed distribution and rarity in urban driving dataset. Recently, Large Language Models (LLMs) have shown promise in autonomous driving, particularly for their zero-shot generalization and common-sense reasoning capabilities. In this paper, we leverage these LLM strengths to introduce a framework for generating diverse OOD driving scenarios. Our approach uses LLMs to construct a branching tree, where each branch represents a unique OOD scenario. These scenarios are then simulated in the CARLA simulator using an automated framework that aligns scene augmentation with the corresponding textual descriptions. We evaluate our framework through extensive simulations, and assess its performance via a diversity metric that measures the richness of the scenarios. Additionally, we introduce a new "OOD-ness" metric, which quantifies how much the generated scenarios deviate from typical urban driving conditions. Furthermore, we explore the capacity of modern Vision-Language Models (VLMs) to interpret and safely navigate through the simulated OOD scenarios. Our findings offer valuable insights into the reliability of language models in addressing OOD scenarios within the context of urban driving.

In the current paradigm of image captioning, deep learning models are trained to generate text from image embeddings of latent features. We challenge the assumption that these latent features ought to be high-dimensional vectors which require model fine tuning to handle. Here we propose Label Boosted Retrieval Augmented Generation (LaB-RAG), a text-based approach to image captioning that leverages image descriptors in the form of categorical labels to boost standard retrieval augmented generation (RAG) with pretrained large language models (LLMs). We study our method in the context of radiology report generation (RRG), where the task is to generate a clinician's report detailing their observations from a set of radiological images, such as X-rays. We argue that simple linear classifiers over extracted image embeddings can effectively transform X-rays into text-space as radiology-specific labels. In combination with standard RAG, we show that these derived text labels can be used with general-domain LLMs to generate radiology reports. Without ever training our generative language model or image feature encoder models, and without ever directly "showing" the LLM an X-ray, we demonstrate that LaB-RAG achieves better results across natural language and radiology language metrics compared with other retrieval-based RRG methods, while attaining competitive results compared to other fine-tuned vision-language RRG models. We further present results of our experiments with various components of LaB-RAG to better understand our method. Finally, we critique the use of a popular RRG metric, arguing it is possible to artificially inflate its results without true data-leakage.

In the domain of large language models, considerable advancements have been attained in multimodal large language models and explainability research, propelled by the continuous technological progress and innovation. Nonetheless, security and privacy concerns continue to pose as prominent challenges in this field. The emergence of blockchain technology, marked by its decentralized nature, tamper-proof attributes, distributed storage functionality, and traceability, has provided novel approaches for resolving these issues. Both of these technologies independently hold vast potential for development; yet, their combination uncovers substantial cross-disciplinary opportunities and growth prospects. The current research tendencies are increasingly concentrating on the integration of blockchain with large language models, with the aim of compensating for their respective limitations through this fusion and promoting further technological evolution. In this study, we evaluate the advantages and developmental constraints of the two technologies, and explore the possibility and development potential of their combination. This paper primarily investigates the technical convergence in two directions: Firstly, the application of large language models to blockchain, where we identify six major development directions and explore solutions to the shortcomings of blockchain technology and their application scenarios; Secondly, the application of blockchain technology to large language models, leveraging the characteristics of blockchain to remedy the deficiencies of large language models and exploring its application potential in multiple fields.

With the growing popularity of generative AI for images, video, and music, we witnessed models rapidly improve in quality and performance. However, not much attention is paid towards enabling AI's ability to "be creative". In this study, we implemented and simulated the systems model of creativity (proposed by Csikszentmihalyi) using virtual agents utilizing large language models (LLMs) and text prompts. For comparison, the simulations were conducted with the "virtual artists" being: 1)isolated and 2)placed in a multi-agent system. Both scenarios were compared by analyzing the variations and overall "creativity" in the generated artifacts (measured via a user study and LLM). Our results suggest that the generative agents may perform better in the framework of the systems model of creativity.

Self-improvement in multimodal large language models (MLLMs) is crucial for enhancing their reliability and robustness. However, current methods often rely heavily on MLLMs themselves as judges, leading to high computational costs and potential pitfalls like reward hacking and model collapse. This paper introduces a novel, model-level judge-free self-improvement framework. Our approach employs a controlled feedback mechanism while eliminating the need for MLLMs in the verification loop. We generate preference learning pairs using a controllable hallucination mechanism and optimize data quality by leveraging lightweight, contrastive language-image encoders to evaluate and reverse pairs when necessary. Evaluations across public benchmarks and our newly introduced IC dataset designed to challenge hallucination control demonstrate that our model outperforms conventional techniques. We achieve superior precision and recall with significantly lower computational demands. This method offers an efficient pathway to scalable self-improvement in MLLMs, balancing performance gains with reduced resource requirements.

Training large language models (LLMs) to spend more time thinking and reflection before responding is crucial for effectively solving complex reasoning tasks in fields such as science, coding, and mathematics. However, the effectiveness of mechanisms like self-reflection and self-correction depends on the model's capacity to accurately assess its own performance, which can be limited by factors such as initial accuracy, question difficulty, and the lack of external feedback. In this paper, we delve into a two-player paradigm that separates the roles of reasoning and critique models, where the critique model provides step-level feedback to supervise the reasoning (actor) model during both test-time and training-time. We first propose AutoMathCritique, an automated and scalable framework for collecting critique data, resulting in a dataset of 76, 321 responses paired with step-level feedback. Fine-tuning language models with this dataset enables them to generate natural language feedback for mathematical reasoning. We demonstrate that the critique models consistently improve the actor's performance on difficult queries at test-time, especially when scaling up inference-time computation. Motivated by these findings, we introduce the critique-based supervision to the actor's selftraining process, and propose a critique-in-the-loop self-improvement method. Experiments show that the method improves the actor's exploration efficiency and solution diversity, especially on challenging queries, leading to a stronger reasoning model. Lastly, we take the preliminary step to explore training self-talk reasoning models via critique supervision and showcase their potential.

Jailbreak prompts pose a significant threat in AI and cybersecurity, as they are crafted to bypass ethical safeguards in large language models, potentially enabling misuse by cybercriminals. This paper analyzes jailbreak prompts from a cyber defense perspective, exploring techniques like prompt injection and context manipulation that allow harmful content generation, content filter evasion, and sensitive information extraction. We assess the impact of successful jailbreaks, from misinformation and automated social engineering to hazardous content creation, including bioweapons and explosives. To address these threats, we propose strategies involving advanced prompt analysis, dynamic safety protocols, and continuous model fine-tuning to strengthen AI resilience. Additionally, we highlight the need for collaboration among AI researchers, cybersecurity experts, and policymakers to set standards for protecting AI systems. Through case studies, we illustrate these cyber defense approaches, promoting responsible AI practices to maintain system integrity and public trust. \textbf{\color{red}Warning: This paper contains content which the reader may find offensive.}

A longstanding problem of deep learning models is their vulnerability to adversarial examples, which are often generated by applying imperceptible perturbations to natural examples. Adversarial examples exhibit cross-model transferability, enabling to attack black-box models with limited information about their architectures and parameters. Model ensembling is an effective strategy to improve the transferability by attacking multiple surrogate models simultaneously. However, as prior studies usually adopt few models in the ensemble, there remains an open question of whether scaling the number of models can further improve black-box attacks. Inspired by the findings in large foundation models, we investigate the scaling laws of black-box adversarial attacks in this work. By analyzing the relationship between the number of surrogate models and transferability of adversarial examples, we conclude with clear scaling laws, emphasizing the potential of using more surrogate models to enhance adversarial transferability. Extensive experiments verify the claims on standard image classifiers, multimodal large language models, and even proprietary models like GPT-4o, demonstrating consistent scaling effects and impressive attack success rates with more surrogate models. Further studies by visualization indicate that scaled attacks bring better interpretability in semantics, indicating that the common features of models are captured.