In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach to vision-based place recognition relies on low-level visual features. Despite significant progress in recent years, place recognition based on low-level visual features is challenging when there are changes in scene appearance. To address this, end-to-end training approaches have been proposed to overcome the limitations of hand-crafted features. However, these approaches still fail under drastic changes and require large amounts of labeled data to train models, presenting a significant limitation. Methods that leverage high-level semantic information, such as objects or categories, have been proposed to handle variations in appearance. In this paper, we introduce a novel VPR approach that remains robust to scene changes and does not require additional training. Our method constructs semantic image descriptors by extracting pixel-level embeddings using a zero-shot, language-driven semantic segmentation model. We validate our approach in challenging place recognition scenarios using real-world public dataset. The experiments demonstrate that our method outperforms non-learned image representation techniques and off-the-shelf convolutional neural network (CNN) descriptors. Our code is available at https: //github.com/woo-soojin/context-based-vlpr.

Balancing helpfulness and safety (harmlessness) is a critical challenge in aligning large language models (LLMs). Current approaches often decouple these two objectives, training separate preference models for helpfulness and safety, while framing safety as a constraint within a constrained Markov Decision Process (CMDP) framework. However, these methods can lead to ``safety interference'', where average-based safety constraints compromise the safety of some prompts in favor of others. To address this issue, we propose \textbf{Rectified Policy Optimization (RePO)}, which replaces the average safety constraint with stricter (per prompt) safety constraints. At the core of RePO is a policy update mechanism driven by rectified policy gradients, which penalizes the strict safety violation of every prompt, thereby enhancing safety across nearly all prompts. Our experiments on Alpaca-7B demonstrate that RePO improves the safety alignment and reduces the safety interference compared to baseline methods. Code is available at https://github.com/pxyWaterMoon/RePO.

Augmented Large Language Models (LLMs) enhance the capabilities of standalone LLMs by integrating external data sources through API calls. In interactive LLM applications, efficient scheduling is crucial for maintaining low request completion times, directly impacting user engagement. However, these augmentations introduce scheduling challenges due to the need to manage limited memory for cached information (KV caches). As a result, traditional size-based scheduling algorithms, such as Shortest Job First (SJF), become less effective at minimizing completion times. Existing work focuses only on handling requests during API calls by preserving, discarding, or swapping memory without considering how to schedule requests with API calls. In this paper, we propose LAMPS, a novel LLM inference framework for augmented LLMs. LAMPS minimizes request completion time through a unified scheduling approach that considers the total length of requests and their handling strategies during API calls. Recognizing that LLM inference is memory-bound, our approach ranks requests based on their consumption of memory over time, which depends on both the output sizes and how a request is managed during its API calls. To implement our scheduling, LAMPS predicts the strategy that minimizes memory waste of a request during its API calls, aligning with but improving upon existing approaches. We also propose starvation prevention techniques and optimizations to mitigate the overhead of our scheduling. We implement LAMPS on top of vLLM and evaluate its performance against baseline LLM inference systems, demonstrating improvements in end-to-end latency by 27%-85% and reductions in TTFT by 4%-96% compared to the existing augmented-LLM system, with even greater gains over vLLM.

Document retrieval for tasks such as search and retrieval-augmented generation typically involves datasets that are unstructured: free-form text without explicit internal structure in each document. However, documents can have a structured form, consisting of fields such as an article title, message body, or HTML header. To address this gap, we introduce Multi-Field Adaptive Retrieval (MFAR), a flexible framework that accommodates any number of and any type of document indices on structured data. Our framework consists of two main steps: (1) the decomposition of an existing document into fields, each indexed independently through dense and lexical methods, and (2) learning a model which adaptively predicts the importance of a field by conditioning on the document query, allowing on-the-fly weighting of the most likely field(s). We find that our approach allows for the optimized use of dense versus lexical representations across field types, significantly improves in document ranking over a number of existing retrievers, and achieves state-of-the-art performance for multi-field structured data.

Answer verification identifies correct solutions among candidates generated by large language models (LLMs). Current approaches typically train verifier models by labeling solutions as correct or incorrect based solely on whether the final answer matches the gold answer. However, this approach neglects any flawed rationale in the solution yielding the correct answer, undermining the verifier's ability to distinguish between sound and flawed rationales. We empirically show that in StrategyQA, only 19% of LLM-generated solutions with correct answers have valid rationales, thus leading to an unreliable verifier. Furthermore, we demonstrate that training a verifier on valid rationales significantly improves its ability to distinguish valid and flawed rationale. To make a better verifier without extra human supervision, we introduce REPS (Rationale Enhancement through Pairwise Selection), a method for selecting valid rationales from candidates by iteratively applying pairwise self-evaluation using the same LLM that generates the solutions. Verifiers trained on solutions selected by REPS outperform those trained using conventional training methods on three reasoning benchmarks (ARC-Challenge, DROP, and StrategyQA). Our results suggest that training reliable verifiers requires ensuring the validity of rationales in addition to the correctness of the final answers, which would be critical for models assisting humans in solving complex reasoning tasks.

Electronic Health Records (EHR) has revolutionized healthcare data management and prediction in the field of AI and machine learning. Accurate predictions of diagnosis and medications significantly mitigate health risks and provide guidance for preventive care. However, EHR driven models often have limited scope on understanding medical-domain knowledge and mostly rely on simple-and-sole ontologies. In addition, due to the missing features and incomplete disease coverage of EHR, most studies only focus on basic analysis on conditions and medication. We propose DualMAR, a framework that enhances EHR prediction tasks through both individual observation data and public knowledge bases. First, we construct a bi-hierarchical Diagnosis Knowledge Graph (KG) using verified public clinical ontologies and augment this KG via Large Language Models (LLMs); Second, we design a new proxy-task learning on lab results in EHR for pretraining, which further enhance KG representation and patient embeddings. By retrieving radial and angular coordinates upon polar space, DualMAR enables accurate predictions based on rich hierarchical and semantic embeddings from KG. Experiments also demonstrate that DualMAR outperforms state-of-the-art models, validating its effectiveness in EHR prediction and KG integration in medical domains.

The rise of social media has amplified the spread of fake news, now further complicated by large language models (LLMs) like ChatGPT, which ease the generation of highly convincing, error-free misinformation, making it increasingly challenging for the public to discern truth from falsehood. Traditional fake news detection methods relying on linguistic cues also becomes less effective. Moreover, current detectors primarily focus on binary classification and English texts, often overlooking the distinction between machine-generated true vs. fake news and the detection in low-resource languages. To this end, we updated detection schema to include machine-generated news with focus on the Urdu language. We further propose a hierarchical detection strategy to improve the accuracy and robustness. Experiments show its effectiveness across four datasets in various settings.

The growing use of large language model (LLM)-based chatbots has raised concerns about fairness. Fairness issues in LLMs can lead to severe consequences, such as bias amplification, discrimination, and harm to marginalized communities. While existing fairness benchmarks mainly focus on single-turn dialogues, multi-turn scenarios, which in fact better reflect real-world conversations, present greater challenges due to conversational complexity and potential bias accumulation. In this paper, we propose a comprehensive fairness benchmark for LLMs in multi-turn dialogue scenarios, \textbf{FairMT-Bench}. Specifically, we formulate a task taxonomy targeting LLM fairness capabilities across three stages: context understanding, user interaction, and instruction trade-offs, with each stage comprising two tasks. To ensure coverage of diverse bias types and attributes, we draw from existing fairness datasets and employ our template to construct a multi-turn dialogue dataset, \texttt{FairMT-10K}. For evaluation, GPT-4 is applied, alongside bias classifiers including Llama-Guard-3 and human validation to ensure robustness. Experiments and analyses on \texttt{FairMT-10K} reveal that in multi-turn dialogue scenarios, current LLMs are more likely to generate biased responses, and there is significant variation in performance across different tasks and models. Based on this, we curate a challenging dataset, \texttt{FairMT-1K}, and test 15 current state-of-the-art (SOTA) LLMs on this dataset. The results show the current state of fairness in LLMs and showcase the utility of this novel approach for assessing fairness in more realistic multi-turn dialogue contexts, calling for future work to focus on LLM fairness improvement and the adoption of \texttt{FairMT-1K} in such efforts.

Large Language Models (LLMs) have recently shown great promise in planning and reasoning applications. These tasks demand robust systems, which arguably require a causal understanding of the environment. While LLMs can acquire and reflect common sense causal knowledge from their pretraining data, this information is often incomplete, incorrect, or inapplicable to a specific environment. In contrast, causal representation learning (CRL) focuses on identifying the underlying causal structure within a given environment. We propose a framework that integrates CRLs with LLMs to enable causally-aware reasoning and planning. This framework learns a causal world model, with causal variables linked to natural language expressions. This mapping provides LLMs with a flexible interface to process and generate descriptions of actions and states in text form. We evaluate the framework on causal inference and planning tasks across temporal scales and environmental complexities. Our experiments demonstrate the effectiveness of the approach, with the causally-aware method outperforming LLM-based reasoners, especially for longer planning horizons. Large Language Models (LLMs) have emerged as powerful tools for a wide range of tasks, from natural language understanding to complex problem-solving (Brown et al., 2020; Radford et al., 2019; Liu et al., 2023b). Recent work has explored the use of LLMs as action agents for planning and reasoning tasks, showing promising results in improving task-specific, downstream performance (Ahn et al., 2022; Hao et al., 2023; Huang et al., 2023). These approaches primarily rely on the model's ability to extract common-sense causal information stated in its training data (Zečević et al., 2023). While LLMs can reflect general beliefs and correlations, this information may be incomplete, incorrect, or inapplicable in specific environments. This poses challenges for LLMs in novel or complex situations, particularly in dynamic environments where accurate modeling of action consequences is crucial (Valmeekam et al., 2023; Kambhampati et al., 2024).

Recent research has shown that Large Language Models (LLMs) are vulnerable to automated jailbreak attacks, where adversarial suffixes crafted by algorithms appended to harmful queries bypass safety alignment and trigger unintended responses. Current methods for generating these suffixes are computationally expensive and have low Attack Success Rates (ASR), especially against well-aligned models like Llama2 and Llama3. To overcome these limitations, we introduce ADV-LLM, an iterative self-tuning process that crafts adversarial LLMs with enhanced jailbreak ability. Our framework significantly reduces the computational cost of generating adversarial suffixes while achieving nearly 100\% ASR on various open-source LLMs. Moreover, it exhibits strong attack transferability to closed-source models, achieving 99% ASR on GPT-3.5 and 49% ASR on GPT-4, despite being optimized solely on Llama3. Beyond improving jailbreak ability, ADV-LLM provides valuable insights for future safety alignment research through its ability to generate large datasets for studying LLM safety.