Recent developments in foundation models, like Large Language Models (LLMs) and Vision-Language Models (VLMs), trained on extensive data, facilitate flexible application across different tasks and modalities. Their impact spans various fields, including healthcare, education, and robotics. This paper provides an overview of the practical application of foundation models in real-world robotics, with a primary emphasis on the replacement of specific components within existing robot systems. The summary encompasses the perspective of input-output relationships in foundation models, as well as their role in perception, motion planning, and control within the field of robotics. This paper concludes with a discussion of future challenges and implications for practical robot applications.

Despite remarkable advancements in emulating human-like behavior through Large Language Models (LLMs), current textual simulations do not adequately address the notion of time. To this end, we introduce TimeArena, a novel textual simulated environment that incorporates complex temporal dynamics and constraints that better reflect real-life planning scenarios. In TimeArena, agents are asked to complete multiple tasks as soon as possible, allowing for parallel processing to save time. We implement the dependency between actions, the time duration for each action, and the occupancy of the agent and the objects in the environment. TimeArena grounds to 30 real-world tasks in cooking, household activities, and laboratory work. We conduct extensive experiments with various state-of-the-art LLMs using TimeArena. Our findings reveal that even the most powerful models, e.g., GPT-4, still lag behind humans in effective multitasking, underscoring the need for enhanced temporal awareness in the development of language agents.

Despite significant investment into safety training, large language models (LLMs) deployed in the real world still suffer from numerous vulnerabilities. One perspective on LLM safety training is that it algorithmically forbids the model from answering toxic or harmful queries. To assess the effectiveness of safety training, in this work, we study forbidden tasks, i.e., tasks the model is designed to refuse to answer. Specifically, we investigate whether in-context learning (ICL) can be used to re-learn forbidden tasks despite the explicit fine-tuning of the model to refuse them. We first examine a toy example of refusing sentiment classification to demonstrate the problem. Then, we use ICL on a model fine-tuned to refuse to summarise made-up news articles. Finally, we investigate whether ICL can undo safety training, which could represent a major security risk. For the safety task, we look at Vicuna-7B, Starling-7B, and Llama2-7B. We show that the attack works out-of-the-box on Starling-7B and Vicuna-7B but fails on Llama2-7B. Finally, we propose an ICL attack that uses the chat template tokens like a prompt injection attack to achieve a better attack success rate on Vicuna-7B and Starling-7B. Trigger Warning: the appendix contains LLM-generated text with violence, suicide, and misinformation.

While recent work shows promising results in expanding the capabilities of large language models (LLM) to directly understand and synthesize speech, an LLM-based strategy for modeling spoken dialogs remains elusive and calls for further investigation. This work proposes an extensive speech-text LLM framework, named the Unified Spoken Dialog Model (USDM), to generate coherent spoken responses with organic prosodic features relevant to the given input speech without relying on automatic speech recognition (ASR) or text-to-speech (TTS) solutions. Our approach employs a multi-step speech-text inference scheme that leverages chain-of-reasoning capabilities exhibited by the underlying LLM. We also propose a generalized speech-text pretraining scheme that helps with capturing cross-modal semantics. Automatic and human evaluations show that the proposed approach is effective in generating natural-sounding spoken responses, outperforming both prior and cascaded baselines. Detailed comparative studies reveal that, despite the cascaded approach being stronger in individual components, the joint speech-text modeling improves robustness against recognition errors and speech quality. Demo is available at https://unifiedsdm.github.io.

Aligning large language models (LLMs) with human values is imperative to mitigate potential adverse effects resulting from their misuse. Drawing from the sociological insight that acknowledging all parties' concerns is a key factor in shaping human values, this paper proposes a novel direction to align LLMs by themselves: social scene simulation. To achieve this, we present MATRIX, a novel social scene simulator that emulates realistic scenes around a user's input query, enabling the LLM to take social consequences into account before responding. MATRIX serves as a virtual rehearsal space, akin to a Monopolylogue, where the LLM performs diverse roles related to the query and practice by itself. To inject this alignment, we fine-tune the LLM with MATRIX-simulated data, ensuring adherence to human values without compromising inference speed. We theoretically show that the LLM with MATRIX outperforms Constitutional AI under mild assumptions. Finally, extensive experiments validate that our method outperforms over 10 baselines across 4 benchmarks. As evidenced by 875 user ratings, our tuned 13B-size LLM exceeds GPT-4 in aligning with human values.

Misuse of the Large Language Models (LLMs) has raised widespread concern. To address this issue, safeguards have been taken to ensure that LLMs align with social ethics. However, recent findings have revealed an unsettling vulnerability bypassing the safeguards of LLMs, known as jailbreak attacks. By applying techniques, such as employing role-playing scenarios, adversarial examples, or subtle subversion of safety objectives as a prompt, LLMs can produce an inappropriate or even harmful response. While researchers have studied several categories of jailbreak attacks, they have done so in isolation. To fill this gap, we present the first large-scale measurement of various jailbreak attack methods. We concentrate on 13 cutting-edge jailbreak methods from four categories, 160 questions from 16 violation categories, and six popular LLMs. Our extensive experimental results demonstrate that the optimized jailbreak prompts consistently achieve the highest attack success rates, as well as exhibit robustness across different LLMs. Some jailbreak prompt datasets, available from the Internet, can also achieve high attack success rates on many LLMs, such as ChatGLM3, GPT-3.5, and PaLM2. Despite the claims from many organizations regarding the coverage of violation categories in their policies, the attack success rates from these categories remain high, indicating the challenges of effectively aligning LLM policies and the ability to counter jailbreak attacks. We also discuss the trade-off between the attack performance and efficiency, as well as show that the transferability of the jailbreak prompts is still viable, becoming an option for black-box models. Overall, our research highlights the necessity of evaluating different jailbreak methods. We hope our study can provide insights for future research on jailbreak attacks and serve as a benchmark tool for evaluating them for practitioners.

The increasing popularity of AI, particularly Large Language Models (LLMs), has significantly impacted various domains, including Software Engineering. This study explores the integration of AI tools in software engineering practices within a large organization. We focus on ANZ Bank, which employs over 5000 engineers covering all aspects of the software development life cycle. This paper details an experiment conducted using GitHub Copilot, a notable AI tool, within a controlled environment to evaluate its effectiveness in real-world engineering tasks. Additionally, this paper shares initial findings on the productivity improvements observed after GitHub Copilot was adopted on a large scale, with about 1000 engineers using it. ANZ Bank's six-week experiment with GitHub Copilot included two weeks of preparation and four weeks of active testing. The study evaluated participant sentiment and the tool's impact on productivity, code quality, and security. Initially, participants used GitHub Copilot for proposed use-cases, with their feedback gathered through regular surveys. In the second phase, they were divided into Control and Copilot groups, each tackling the same Python challenges, and their experiences were again surveyed. Results showed a notable boost in productivity and code quality with GitHub Copilot, though its impact on code security remained inconclusive. Participant responses were overall positive, confirming GitHub Copilot's effectiveness in large-scale software engineering environments. Early data from 1000 engineers also indicated a significant increase in productivity and job satisfaction.

Long-form generations from large language models (LLMs) contains a mix of factual and non-factual claims, making evaluating factuality difficult. To evaluate factual precision of long-form generations in a more fine-grained way, prior works propose to decompose long-form generations into multiple verifiable facts and verify those facts independently. The factuality of the generation is the proportion of verifiable facts among all the facts. Such methods assume that combining factual claims forms a factual paragraph. This paper shows that the assumption can be violated due to entity ambiguity. We show that LLMs can generate paragraphs that contain verifiable facts, but the facts are combined to form a non-factual paragraph due to entity ambiguity. We further reveal that existing factual precision metrics, including FActScore and citation recall, cannot properly evaluate the factuality of these non-factual paragraphs. To address this, we introduce an enhanced metric, D-FActScore, specifically designed for content with ambiguous entities. We evaluate the D-FActScores of people biographies generated with retrieval-augmented generation (RAG). We show that D-FActScore can better assess the factuality of paragraphs with entity ambiguity than FActScore. We also find that four widely used open-source LLMs tend to mix information of distinct entities to form non-factual paragraphs.

Large transformer models have demonstrated remarkable success. Post-training quantization (PTQ), which requires only a small dataset for calibration and avoids end-to-end retraining, is a promising solution for compressing these large models. Regrettably, existing PTQ methods typically exhibit non-trivial performance loss. We find that the performance bottleneck stems from over-consideration of hardware compatibility in the quantization process, compelling them to reluctantly employ simple quantizers, albeit at the expense of accuracy. With the above insights, we propose RepQuant, a novel PTQ framework with quantization-inference decoupling paradigm to address the above issues. RepQuant employs complex quantizers in the quantization process and simplified quantizers in the inference process, and performs mathematically equivalent transformations between the two through quantization scale reparameterization, thus ensuring both accurate quantization and efficient inference. More specifically, we focus on two components with extreme distributions: LayerNorm activations and Softmax activations. Initially, we apply channel-wise quantization and log$\sqrt{2}$ quantization, respectively, which are tailored to their distributions. In particular, for the former, we introduce a learnable per-channel dual clipping scheme, which is designed to efficiently identify outliers in the unbalanced activations with fine granularity. Then, we reparameterize the scales to hardware-friendly layer-wise quantization and log2 quantization for inference. Moreover, quantized weight reconstruction is seamlessly integrated into the above procedure to further push the performance limits. Extensive experiments are performed on different large-scale transformer variants on multiple tasks, including vision, language, and multi-modal transformers, and RepQuant encouragingly demonstrates significant performance advantages.

Large Language Models (LLMs) are the cornerstone for many Natural Language Processing (NLP) tasks like sentiment analysis, document classification, named entity recognition, question answering, summarization, etc. LLMs are often trained on data which originates from the web. This data is prone to having content with Hate, Abuse and Profanity (HAP). For a detailed definition of HAP, please refer to the Appendix. Due to the LLMs being exposed to HAP content during training, the models learn it and may then generate hateful or profane content. For example, when the open-source RoBERTa model (specifically, the RoBERTA base model) from the HuggingFace (HF) Transformers library is prompted to replace the mask token in `I do not know that Persian people are that MASK` it returns the word `stupid` with the highest score. This is unacceptable in civil discourse.The detection of Hate, Abuse and Profanity in text is a vital component of creating civil and unbiased LLMs, which is needed not only for English, but for all languages. In this article, we briefly describe the creation of HAP detectors and various ways of using them to make models civil and acceptable in the output they generate.