Vision-based imitation learning has shown promising capabilities of endowing robots with various motion skills given visual observation. However, current visuomotor policies fail to adapt to drastic changes in their visual observations. We present Perception Stitching that enables strong zero-shot adaptation to large visual changes by directly stitching novel combinations of visual encoders. Our key idea is to enforce modularity of visual encoders by aligning the latent visual features among different visuomotor policies. Our method disentangles the perceptual knowledge with the downstream motion skills and allows the reuse of the visual encoders by directly stitching them to a policy network trained with partially different visual conditions. We evaluate our method in various simulated and real-world manipulation tasks. While baseline methods failed at all attempts, our method could achieve zero-shot success in real-world visuomotor tasks. Our quantitative and qualitative analysis of the learned features of the policy network provides more insights into the high performance of our proposed method.

This paper introduces AnomaLLMy, a novel technique for the automatic detection of anomalous tokens in black-box Large Language Models (LLMs) with API-only access. Utilizing low-confidence single-token predictions as a cost-effective indicator, AnomaLLMy identifies irregularities in model behavior, addressing the issue of anomalous tokens degrading the quality and reliability of models. Validated on the cl100k_base dataset, the token set of GPT-4, AnomaLLMy detected 413 major and 65 minor anomalies, demonstrating the method's efficiency with just \$24.39 spent in API credits. The insights from this research are expected to be beneficial for enhancing the robustness of and accuracy of LLMs, particularly in the development and assessment of tokenizers.

We explore multi-step reasoning in vision-language models (VLMs). The problem is challenging, as reasoning data consisting of multiple steps of visual and language processing are barely available. To overcome the challenge, we first introduce a least-to-most visual reasoning paradigm, which interleaves steps of decomposing a question into sub-questions and invoking external tools for resolving sub-questions. Based on the paradigm, we further propose a novel data synthesis approach that can automatically create questions and multi-step reasoning paths for an image in a bottom-up manner. Our approach divides the complex synthesis task into a few simple sub-tasks, and (almost entirely) relies on open-sourced models to accomplish the sub-tasks. Therefore, the entire synthesis process is reproducible and cost-efficient, and the synthesized data is quality guaranteed. With the approach, we construct $50$k visual reasoning examples. Then, we develop a visual reasoner through supervised fine-tuning, which is capable of generally enhancing the reasoning abilities of a wide range of existing VLMs in a plug-and-play fashion. Extensive experiments indicate that the visual reasoner can consistently and significantly improve four VLMs on four VQA benchmarks. Our code and dataset are available at https://github.com/steven-ccq/VisualReasoner.

Recent work on evaluating the diversity of text generated by LLMs has focused on word-level features. Here we offer an analysis of syntactic features to characterize general repetition in models, beyond frequent n-grams. Specifically, we define syntactic templates and show that models tend to produce templated text in downstream tasks at a higher rate than what is found in human-reference texts. We find that most (76%) templates in model-generated text can be found in pre-training data (compared to only 35% of human-authored text), and are not overwritten during fine-tuning processes such as RLHF. This connection to the pre-training data allows us to analyze syntactic templates in models where we do not have the pre-training data. We also find that templates as features are able to differentiate between models, tasks, and domains, and are useful for qualitatively evaluating common model constructions. Finally, we demonstrate the use of templates as a useful tool for analyzing style memorization of training data in LLMs.

It is fundamentally challenging for robots to serve as useful assistants in human environments because this requires addressing a spectrum of sub-problems across robotics, including perception, language understanding, reasoning, and planning. The recent advancements in Multimodal Large Language Models (MLLMs) have demonstrated their exceptional abilities in solving complex mathematical problems, mastering commonsense and abstract reasoning. This has led to the recent utilization of MLLMs as the brain in robotic systems, enabling these models to conduct high-level planning prior to triggering low-level control actions for task execution. However, it remains uncertain whether existing MLLMs are reliable in serving the brain role of robots. In this study, we introduce the first benchmark for evaluating Multimodal LLM for Robotic (MMRo) benchmark, which tests the capability of MLLMs for robot applications. Specifically, we identify four essential capabilities perception, task planning, visual reasoning, and safety measurement that MLLMs must possess to qualify as the robot's central processing unit. We have developed several scenarios for each capability, resulting in a total of 14 metrics for evaluation. We present experimental results for various MLLMs, including both commercial and open-source models, to assess the performance of existing systems. Our findings indicate that no single model excels in all areas, suggesting that current MLLMs are not yet trustworthy enough to serve as the cognitive core for robots. Our data can be found in https://mm-robobench.github.io/.

This paper introduces MM-Instruct, a large-scale dataset of diverse and high-quality visual instruction data designed to enhance the instruction-following capabilities of large multimodal models (LMMs). While existing visual instruction datasets often focus on question-answering, they struggle to generalize to broader application scenarios such as creative writing, summarization, or image analysis. To address these limitations, we propose a novel approach to constructing MM-Instruct that leverages the strong instruction-following capabilities of existing LLMs to generate novel visual instruction data from large-scale but conventional image captioning datasets. MM-Instruct first leverages ChatGPT to automatically generate diverse instructions from a small set of seed instructions through augmenting and summarization. It then matches these instructions with images and uses an open-sourced large language model (LLM) to generate coherent answers to the instruction-image pairs. The LLM is grounded by the detailed text descriptions of images in the whole answer generation process to guarantee the alignment of the instruction data. Moreover, we introduce a benchmark based on the generated instruction data to evaluate the instruction-following capabilities of existing LMMs. We demonstrate the effectiveness of MM-Instruct by training a LLaVA-1.5 model on the generated data, denoted as LLaVA-Instruct, which exhibits significant improvements in instruction-following capabilities compared to LLaVA-1.5 models.

Historical documents frequently suffer from damage and inconsistencies, including missing or illegible text resulting from issues such as holes, ink problems, and storage damage. These missing portions or gaps are referred to as lacunae. In this study, we employ transformer-based optical character recognition (OCR) models trained on synthetic data containing lacunae in a supervised manner. We demonstrate their effectiveness in detecting and restoring lacunae, achieving a success rate of 65%, compared to a base model lacking knowledge of lacunae, which achieves only 5% restoration. Additionally, we investigate the mechanistic properties of the model, such as the log probability of transcription, which can identify lacunae and other errors (e.g., mistranscriptions due to complex writing or ink issues) in line images without directly inspecting the image. This capability could be valuable for scholars seeking to distinguish images containing lacunae or errors from clean ones. Although we explore the potential of attention mechanisms in flagging lacunae and transcription errors, our findings suggest it is not a significant factor. Our work highlights a promising direction in utilizing transformer-based OCR models for restoring or analyzing damaged historical documents.

Large language models (LLMs) require continual knowledge updates to stay abreast of the ever-changing world facts, prompting the formulation of lifelong model editing task. While recent years have witnessed the development of various techniques for single and batch editing, these methods either fail to apply or perform sub-optimally when faced with lifelong editing. In this paper, we introduce LEMoE, an advanced Mixture of Experts (MoE) adaptor for lifelong model editing. We first analyze the factors influencing the effectiveness of conventional MoE adaptor in lifelong editing, including catastrophic forgetting, inconsistent routing and order sensitivity. Based on these insights, we propose a tailored module insertion method to achieve lifelong editing, incorporating a novel KV anchor routing to enhance routing consistency between training and inference stage, along with a concise yet effective clustering-based editing order planning. Experimental results demonstrate the effectiveness of our method in lifelong editing, surpassing previous model editing techniques while maintaining outstanding performance in batch editing task. Our code will be available.

Legal case retrieval for sourcing similar cases is critical in upholding judicial fairness. Different from general web search, legal case retrieval involves processing lengthy, complex, and highly specialized legal documents. Existing methods in this domain often overlook the incorporation of legal expert knowledge, which is crucial for accurately understanding and modeling legal cases, leading to unsatisfactory retrieval performance. This paper introduces KELLER, a legal knowledge-guided case reformulation approach based on large language models (LLMs) for effective and interpretable legal case retrieval. By incorporating professional legal knowledge about crimes and law articles, we enable large language models to accurately reformulate the original legal case into concise sub-facts of crimes, which contain the essential information of the case. Extensive experiments on two legal case retrieval benchmarks demonstrate superior retrieval performance and robustness on complex legal case queries of KELLER over existing methods.

Bilevel optimization has shown its utility across various machine learning settings, yet most algorithms in practice require second-order information, making it challenging to scale them up. Only recently, a paradigm of first-order algorithms emerged, capable of effectively addressing bilevel optimization problems. Nevertheless, the practical efficiency of this paradigm remains unverified, particularly in the context of large language models (LLMs). This paper introduces the first scalable instantiation of this paradigm called ScaleBiO, focusing on bilevel optimization for large-scale LLM data reweighting. By combining with a recently proposed memory-efficient training technique called LISA, our novel algorithm allows the paradigm to scale to 34-billion-parameter LLMs on eight A40 GPUs, marking the first successful application of bilevel optimization under practical scenarios for large-sized LLMs. Empirically, extensive experiments on data reweighting verify the effectiveness of ScaleBiO for different-scaled models, including GPT-2, LLaMA-3-8B, GPT-NeoX-20B, and Yi-34B, where bilevel optimization succeeds in filtering irrelevant data samples and selecting informative samples. Theoretically, ScaleBiO ensures the optimality of the learned data weights, along with a convergence guarantee matching the conventional first-order bilevel optimization paradigm on smooth and strongly convex objectives.