Top-down, user-centered thinking is not typically a strength of all students, especially tech-savvy computer science-related ones. We propose Human-Robot Interaction (HRI) introductory courses as a highly suitable opportunity to foster these important skills since the HRI discipline includes a focus on humans as users. Our HRI course therefore contains elements like scenario-based design of laboratory projects, discussing and merging ideas and other self-empowerment techniques. Participants describe, implement and present everyday scenarios using Pepper robots and our customized open-source visual programming tool. We observe that students obtain a good grasp of the taught topics and improve their user-centered thinking skills.

Cross-lingual summarization (XLS) generates summaries in a language different from that of the input documents (e.g., English to Spanish), allowing speakers of the target language to gain a concise view of their content. In the present day, the predominant approach to this task is to take a performing, pretrained multilingual language model (LM) and fine-tune it for XLS on the language pairs of interest. However, the scarcity of fine-tuning samples makes this approach challenging in some cases. For this reason, in this paper we propose revisiting the summarize-and-translate pipeline, where the summarization and translation tasks are performed in a sequence. This approach allows reusing the many, publicly-available resources for monolingual summarization and translation, obtaining a very competitive zero-shot performance. In addition, the proposed pipeline is completely differentiable end-to-end, allowing it to take advantage of few-shot fine-tuning, where available. Experiments over two contemporary and widely adopted XLS datasets (CrossSum and WikiLingua) have shown the remarkable zero-shot performance of the proposed approach, and also its strong few-shot performance compared to an equivalent multilingual LM baseline, that the proposed approach has been able to outperform in many languages with only 10% of the fine-tuning samples.

Large language models (LLMs) showcase many desirable traits for intelligent and helpful robots. However, they are also known to hallucinate predictions. This issue is exacerbated in consumer robotics where LLM hallucinations may result in robots confidently executing plans that are contrary to user goals, relying more frequently on human assistance, or preventing the robot from asking for help at all. In this work, we present LAP, a novel approach for utilizing off-the-shelf LLM's, alongside scene and object Affordances, in robotic Planners that minimize harmful hallucinations and know when to ask for help. Our key finding is that calculating and leveraging a scene affordance score, a measure of whether a given action is possible in the provided scene, helps to mitigate hallucinations in LLM predictions and better align the LLM's confidence measure with the probability of success. We specifically propose and test three different affordance scores, which can be used independently or in tandem to improve performance across different use cases. The most successful of these individual scores involves prompting an LLM to determine if a given action is possible and safe in the given scene and uses the LLM's response to compute the score. Through experiments in both simulation and the real world, on tasks with a variety of ambiguities, we show that LAP significantly increases success rate and decreases the amount of human intervention required relative to prior art. For example, in our real-world testing paradigm, LAP decreases the human help rate of previous methods by over 33% at a success rate of 70%.

Math word problem (MWP) solving requires generating a reasoning path based on a given problem description that often contains irrelevant conditions. Existing chain-of-thought (CoT) prompting methods elicited multi-step reasoning abilities of large language models (LLMs) to solve MWPs. However, they were seriously confused by the irrelevant conditions, resulting in low accuracy. In this paper, we propose a novel approach named I$^3$C that instructs LLMs to identify and ignore irrelevant conditions. It identifies a set of irrelevant condition candidates that have a weak semantic relevance with the question. Then it prompts LLMs to verify the irrelevant conditions. Lastly it instructs the LLMs with the verification on relevant and irrelevant conditions to avoid confusion and improve reasoning paths. Moreover, we propose to select (problem, reasoning paths) pairs as demonstrations to enhance I$^3$C with few-shot reasoning. We develop I$^3$C-Select that selects the most confusing problems based on the semantic relevance measurement. We conduct extensive experiments on eight MWP datasets. I$^3$C can be combined with any CoT prompting methods to improve the performance of solving MWPs. Notably, with GPT-3.5-Turbo and I$^3$C-Select, we achieve an accuracy of 96.0 and 94.1 on GSM-IC2-1K and GSM-ICM-1K, respectively, significantly outperforming the state-of-the-art few-shot prompting method Complex-CoT by +11.7 and +11.1. Our implementation is made publicly available at https://wzy6642.github.io/I3C.github.io/.

Training or finetuning large-scale language models (LLMs) requires substantial computation resources, motivating recent efforts to explore parameter-efficient adaptation to downstream tasks. One approach is to treat these models as black boxes and use forward passes (Inference APIs) to interact with them. Current research focuses on adapting these black-box models to downstream tasks using gradient-free prompt optimization, but this often involves an expensive process of searching task-specific prompts. Therefore, we are motivated to study black-box language model adaptation without prompt search. Specifically, we introduce a label-enhanced cross-attention network called CrossTune, which models the semantic relatedness between the input text sequence and task-specific label descriptions. Its effectiveness is examined in the context of few-shot text classification. To improve the generalization of CrossTune, we utilize ChatGPT to generate additional training data through in-context learning. A switch mechanism is implemented to exclude low-quality ChatGPT-generated data. Through extensive experiments on seven benchmark text classification datasets, we demonstrate that our proposed approach outperforms the previous state-of-the-art gradient-free black-box tuning method by 5.7% on average. Even without using ChatGPT-augmented data, CrossTune performs better or comparably than previous black-box tuning methods, suggesting the effectiveness of our approach.

The recent breakthroughs in Large Language Models (LLMs) have mostly focused on languages with easily available and sufficient resources, such as English. However, there remains a significant gap for languages that lack sufficient linguistic resources in the public domain. Our work introduces Komodo-7B, 7-billion-parameter Large Language Models designed to address this gap by seamlessly operating across Indonesian, English, and 11 regional languages in Indonesia. Komodo-7B is a family of LLMs that consist of Komodo-7B-Base and Komodo-7B-Instruct. Komodo-7B-Instruct stands out by achieving state-of-the-art performance in various tasks and languages, outperforming the benchmarks set by OpenAI's GPT-3.5, Cohere's Aya-101, Llama-2-Chat-13B, Mixtral-8x7B-Instruct-v0.1, Gemma-7B-it , and many more. This model not only demonstrates superior performance in both language-specific and overall assessments but also highlights its capability to excel in linguistic diversity. Our commitment to advancing language models extends beyond well-resourced languages, aiming to bridge the gap for those with limited linguistic assets. Additionally, Komodo-7B-Instruct's better cross-language understanding contributes to addressing educational disparities in Indonesia, offering direct translations from English to 11 regional languages, a significant improvement compared to existing language translation services. Komodo-7B represents a crucial step towards inclusivity and effectiveness in language models, providing to the linguistic needs of diverse communities.

As more than 70$\%$ of reviews in the existing opinion summary data set are positive, current opinion summarization approaches are reluctant to generate negative summaries given the input of negative texts. To address such sentiment bias, a direct approach without the over-reliance on a specific framework is to generate additional data based on large language models to balance the emotional distribution of the dataset. However, data augmentation based on large language models faces two disadvantages: 1) the potential issues or toxicity in the augmented data; 2) the expensive costs. Therefore, in this paper, we propose a novel data augmentation framework based on both large and small language models for debiasing opinion summarization. In specific, a small size of synthesized negative reviews is obtained by rewriting the positive text via a large language model. Then, a disentangle reconstruction model is trained based on the generated data. After training, a large amount of synthetic data can be obtained by decoding the new representation obtained from the combination of different sample representations and filtering based on confusion degree and sentiment classification. Experiments have proved that our framework can effectively alleviate emotional bias same as using only large models, but more economically.

Simulation is an indispensable tool in the development and testing of autonomous vehicles (AVs), offering an efficient and safe alternative to road testing by allowing the exploration of a wide range of scenarios. Despite its advantages, a significant challenge within simulation-based testing is the generation of safety-critical scenarios, which are essential to ensure that AVs can handle rare but potentially fatal situations. This paper addresses this challenge by introducing a novel generative framework, CaDRE, which is specifically designed for generating diverse and controllable safety-critical scenarios using real-world trajectories. Our approach optimizes for both the quality and diversity of scenarios by employing a unique formulation and algorithm that integrates real-world data, domain knowledge, and black-box optimization techniques. We validate the effectiveness of our framework through extensive testing in three representative types of traffic scenarios. The results demonstrate superior performance in generating diverse and high-quality scenarios with greater sample efficiency than existing reinforcement learning and sampling-based methods.

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models (LLMs/VLMs) or models trained on annotated robotic demonstrations. However, for complex and dexterous skills, attaining high success rates on long-horizon tasks still represents a major challenge -- the longer the task is, the more likely it is that some stage will fail. Can humans help the robot to continuously improve its long-horizon task performance through intuitive and natural feedback? In this paper, we make the following observation: high-level policies that index into sufficiently rich and expressive low-level language-conditioned skills can be readily supervised with human feedback in the form of language corrections. We show that even fine-grained corrections, such as small movements ("move a bit to the left"), can be effectively incorporated into high-level policies, and that such corrections can be readily obtained from humans observing the robot and making occasional suggestions. This framework enables robots not only to rapidly adapt to real-time language feedback, but also incorporate this feedback into an iterative training scheme that improves the high-level policy's ability to correct errors in both low-level execution and high-level decision-making purely from verbal feedback. Our evaluation on real hardware shows that this leads to significant performance improvement in long-horizon, dexterous manipulation tasks without the need for any additional teleoperation. Videos and code are available at https://yay-robot.github.io/.

Over the past decade, advancements in brain-computer interfaces have demonstrated the feasibility of decoding various forms of communication, such as speech sounds [80, 81], hand gestures [79, 82], articulatory movements [77, 78], and other signals [76] from intracranial recordings. Despite their efficacy, the requirement for invasive brain surgery limits the applicability of these decoding methods to patients with severe impediments in speech or communication due to neurodegenerative diseases, strokes, or traumatic brain injuries. In contrast, non-invasive recordings, particularly those employing functional magnetic resonance imaging (fMRI) [72, 74], magnetoencephalography (MEG) and electroencephalography (EEG) [73], have demonstrated the ability to record rich linguistic information, and decoding natural language from such non-invasive recordings holds the potential for broader applications in both restorative interventions and augmentative technologies. Previous efforts to decode natural language from non-invasive recordings have primarily focused on recognizing letters, words, or fragments within a predetermined set of possibilities [66-69, 72, 73]. A recent breakthrough has demonstrated the feasibility of decoding continuous language from non-invasive recordings of native English speakers [65].