Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level robot actions, effectively bridging the interface between high-level planning and low-level robot control. However, the challenge remains that even with syntactically correct plans, robots can still fail to achieve their intended goals. This failure can be attributed to imperfect plans proposed by LLMs or to unforeseeable environmental circumstances that hinder the execution of planned subtasks due to erroneous assumptions about the state of objects. One way to prevent these challenges is to rely on human-provided step-by-step instructions, limiting the autonomy of robotic systems. Vision Language Models (VLMs) have shown remarkable success in tasks such as visual question answering and image captioning. Leveraging the capabilities of VLMs, we present a novel framework called Robotic Replanning with Perception and Language Models (RePLan) that enables real-time replanning capabilities for long-horizon tasks. This framework utilizes the physical grounding provided by a VLM's understanding of the world's state to adapt robot actions when the initial plan fails to achieve the desired goal. We test our approach within four environments containing seven long-horizion tasks. We find that RePLan enables a robot to successfully adapt to unforeseen obstacles while accomplishing open-ended, long-horizon goals, where baseline models cannot. Find more information at https://replan-lm.github.io/replan.github.io/

As large language models continue to advance in Artificial Intelligence (AI), text generation systems have been shown to suffer from a problematic phenomenon termed often as "hallucination." However, with AI's increasing presence across various domains including medicine, concerns have arisen regarding the use of the term itself. In this study, we conducted a systematic review to identify papers defining "AI hallucination" across fourteen databases. We present and analyze definitions obtained across all databases, categorize them based on their applications, and extract key points within each category. Our results highlight a lack of consistency in how the term is used, but also help identify several alternative terms in the literature. We discuss implications of these and call for a more unified effort to bring consistency to an important contemporary AI issue that can affect multiple domains significantly.

AI and generative AI tools, including chatbots like ChatGPT that rely on large language models (LLMs), have burst onto the scene this year, creating incredible opportunities to increase work productivity and improve our lives. Statisticians and data scientists have begun experiencing the benefits from the availability of these tools in numerous ways, such as the generation of programming code from text prompts to analyze data or fit statistical models. One area that these tools can make a substantial impact is in research discovery and summarization. Standalone tools and plugins to chatbots are being developed that allow researchers to more quickly find relevant literature than pre-2023 search tools. Furthermore, generative AI tools have improved to the point where they can summarize and extract the key points from research articles in succinct language. Finally, chatbots based on highly parameterized LLMs can be used to simulate abductive reasoning, which provides researchers the ability to make connections among related technical topics, which can also be used for research discovery. We review the developments in AI and generative AI for research discovery and summarization, and propose directions where these types of tools are likely to head in the future that may be of interest to statistician and data scientists.

Although Large Language Models (LLMs) have established pre-dominance in automated code generation, they are not devoid of shortcomings. The pertinent issues primarily relate to the absence of execution guarantees for generated code, a lack of explainability, and suboptimal support for essential but niche programming languages. State-of-the-art LLMs such as GPT-4 and LLaMa2 fail to produce valid programs for Industrial Control Systems (ICS) operated by Programmable Logic Controllers (PLCs). We propose LLM4PLC, a user-guided iterative pipeline leveraging user feedback and external verification tools including grammar checkers, compilers and SMV verifiers to guide the LLM's generation. We further enhance the generation potential of LLM by employing Prompt Engineering and model fine-tuning through the creation and usage of LoRAs. We validate this system using a FischerTechnik Manufacturing TestBed (MFTB), illustrating how LLMs can evolve from generating structurally flawed code to producing verifiably correct programs for industrial applications. We run a complete test suite on GPT-3.5, GPT-4, Code Llama-7B, a fine-tuned Code Llama-7B model, Code Llama-34B, and a fine-tuned Code Llama-34B model. The proposed pipeline improved the generation success rate from 47% to 72%, and the Survey-of-Experts code quality from 2.25/10 to 7.75/10. To promote open research, we share the complete experimental setup, the LLM Fine-Tuning Weights, and the video demonstrations of the different programs on our dedicated webpage.

Artificial intelligence (AI) has made remarkable progress across various domains, with large language models like ChatGPT gaining substantial attention for their human-like text-generation capabilities. Despite these achievements, spatial reasoning remains a significant challenge for these models. Benchmarks like StepGame evaluate AI spatial reasoning, where ChatGPT has shown unsatisfactory performance. However, the presence of template errors in the benchmark has an impact on the evaluation results. Thus there is potential for ChatGPT to perform better if these template errors are addressed, leading to more accurate assessments of its spatial reasoning capabilities. In this study, we refine the StepGame benchmark, providing a more accurate dataset for model evaluation. We analyze GPT's spatial reasoning performance on the rectified benchmark, identifying proficiency in mapping natural language text to spatial relations but limitations in multi-hop reasoning. We provide a flawless solution to the benchmark by combining template-to-relation mapping with logic-based reasoning. This combination demonstrates proficiency in performing qualitative reasoning on StepGame without encountering any errors. We then address the limitations of GPT models in spatial reasoning. We deploy Chain-of-thought and Tree-of-thoughts prompting strategies, offering insights into GPT's ``cognitive process", and achieving remarkable improvements in accuracy. Our investigation not only sheds light on model deficiencies but also proposes enhancements, contributing to the advancement of AI with more robust spatial reasoning capabilities.

Fine-tuning large pretrained models on private datasets may run the risk of violating privacy. Differential privacy is a framework for mitigating privacy risks by enforcing algorithmic stability. DP-SGD enables training models with private data in a privacy-preserving manner, but raises new obstacles in the form of performance loss and significant engineering challenges. We introduce DP-ZO, a new method for fine-tuning large language models that preserves the privacy of training data by privatizing zeroth-order optimization. A key insight into the design of our method is that the direction of the gradient in SPSA, the zeroth-order algorithm we use, is always random and the only information that depends on private data is the step size, i.e., a scalar. Therefore, we only need to privatize the scalar step size, which is memory-efficient. DP-ZO, which can be instantiated with either Laplace or Gaussian noise, provides a strong privacy-utility trade-off across different tasks, and model sizes, under conservative privacy budgets. One noteworthy result is that DP-ZO exhibits just $1.86\%$ performance degradation due to privacy at $(1,10^{-5})$-DP when fine-tuning OPT-66B on 1000 training samples from SQuAD.

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension capabilities to formulate precise and efficient action plans based on natural language instructions. However, for embodied tasks, where robots interact with complex environments, text-only LLMs often face challenges due to a lack of compatibility with robotic visual perception. This study provides a comprehensive overview of the emerging integration of LLMs and multimodal LLMs into various robotic tasks. Additionally, we propose a framework that utilizes multimodal GPT-4V to enhance embodied task planning through the combination of natural language instructions and robot visual perceptions. Our results, based on diverse datasets, indicate that GPT-4V effectively enhances robot performance in embodied tasks. This extensive survey and evaluation of LLMs and multimodal LLMs across a variety of robotic tasks enriches the understanding of LLM-centric embodied intelligence and provides forward-looking insights toward bridging the gap in Human-Robot-Environment interaction.

We study the ability of LLMs to generate feedback for scientific papers and develop MARG, a feedback generation approach using multiple LLM instances that engage in internal discussion. By distributing paper text across agents, MARG can consume the full text of papers beyond the input length limitations of the base LLM, and by specializing agents and incorporating sub-tasks tailored to different comment types (experiments, clarity, impact) it improves the helpfulness and specificity of feedback. In a user study, baseline methods using GPT-4 were rated as producing generic or very generic comments more than half the time, and only 1.7 comments per paper were rated as good overall in the best baseline. Our system substantially improves the ability of GPT-4 to generate specific and helpful feedback, reducing the rate of generic comments from 60% to 29% and generating 3.7 good comments per paper (a 2.2x improvement).

We present a benchmark for assessing the capability of Large Language Models (LLMs) to discern intercardinal directions between geographic locations and apply it to three prominent LLMs: GPT-3.5, GPT-4, and Llama-2. This benchmark specifically evaluates whether LLMs exhibit a hierarchical spatial bias similar to humans, where judgments about individual locations' spatial relationships are influenced by the perceived relationships of the larger groups that contain them. To investigate this, we formulated 14 questions focusing on well-known American cities. Seven questions were designed to challenge the LLMs with scenarios potentially influenced by the orientation of larger geographical units, such as states or countries, while the remaining seven targeted locations less susceptible to such hierarchical categorization. Among the tested models, GPT-4 exhibited superior performance with 55.3% accuracy, followed by GPT-3.5 at 47.3%, and Llama-2 at 44.7%. The models showed significantly reduced accuracy on tasks with suspected hierarchical bias. For example, GPT-4's accuracy dropped to 32.9% on these tasks, compared to 85.7% on others. Despite these inaccuracies, the models identified the nearest cardinal direction in most cases, suggesting associative learning, embodying human-like misconceptions. We discuss the potential of text-based data representing geographic relationships directly to improve the spatial reasoning capabilities of LLMs.

Automatically understanding funny moments (i.e., the moments that make people laugh) when watching comedy is challenging, as they relate to various features, such as body language, dialogues and culture. In this paper, we propose FunnyNet-W, a model that relies on cross- and self-attention for visual, audio and text data to predict funny moments in videos. Unlike most methods that rely on ground truth data in the form of subtitles, in this work we exploit modalities that come naturally with videos: (a) video frames as they contain visual information indispensable for scene understanding, (b) audio as it contains higher-level cues associated with funny moments, such as intonation, pitch and pauses and (c) text automatically extracted with a speech-to-text model as it can provide rich information when processed by a Large Language Model. To acquire labels for training, we propose an unsupervised approach that spots and labels funny audio moments. We provide experiments on five datasets: the sitcoms TBBT, MHD, MUStARD, Friends, and the TED talk UR-Funny. Extensive experiments and analysis show that FunnyNet-W successfully exploits visual, auditory and textual cues to identify funny moments, while our findings reveal FunnyNet-W's ability to predict funny moments in the wild. FunnyNet-W sets the new state of the art for funny moment detection with multimodal cues on all datasets with and without using ground truth information.