Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website $\href{https://robotics-transformer-x.github.io}{\text{robotics-transformer-x.github.io}}$.

The recent surge in research interest in applying large language models (LLMs) to decision-making tasks has flourished by leveraging the extensive world knowledge embedded in LLMs. While there is a growing demand to tailor LLMs for custom decision-making tasks, finetuning them for specific tasks is resource-intensive and may diminish the model's generalization capabilities. Moreover, state-of-the-art language models like GPT-4 and Claude are primarily accessible through API calls, with their parametric weights remaining proprietary and unavailable to the public. This scenario emphasizes the growing need for new methodologies that allow learning from agent experiences without requiring parametric updates. To address these problems, we introduce the Experiential Learning (ExpeL) agent. Our agent autonomously gathers experiences and extracts knowledge using natural language from a collection of training tasks. At inference, the agent recalls its extracted insights and past experiences to make informed decisions. Our empirical results highlight the robust learning efficacy of the ExpeL agent, indicating a consistent enhancement in its performance as it accumulates experiences. We further explore the emerging capabilities and transfer learning potential of the ExpeL agent through qualitative observations and additional experiments.

Vision Language Models (VLMs), which extend Large Language Models (LLM) by incorporating visual understanding capability, have demonstrated significant advancements in addressing open-ended visual question-answering (VQA) tasks. However, these models cannot accurately interpret images infused with text, a common occurrence in real-world scenarios. Standard procedures for extracting information from images often involve learning a fixed set of query embeddings. These embeddings are designed to encapsulate image contexts and are later used as soft prompt inputs in LLMs. Yet, this process is limited to the token count, potentially curtailing the recognition of scenes with text-rich context. To improve upon them, the present study introduces BLIVA: an augmented version of InstructBLIP with Visual Assistant. BLIVA incorporates the query embeddings from InstructBLIP and also directly projects encoded patch embeddings into the LLM, a technique inspired by LLaVA. This approach assists the model to capture intricate details potentially missed during the query decoding process. Empirical evidence demonstrates that our model, BLIVA, significantly enhances performance in processing text-rich VQA benchmarks (up to 17.76% in OCR-VQA benchmark) and in undertaking general (not particularly text-rich) VQA benchmarks (up to 7.9% in Visual Spatial Reasoning benchmark), and achieved 17.72% overall improvement in a comprehensive multimodal LLM benchmark (MME), comparing to our baseline InstructBLIP. BLIVA demonstrates significant capability in decoding real-world images, irrespective of text presence. To demonstrate the broad industry applications enabled by BLIVA, we evaluate the model using a new dataset comprising YouTube thumbnails paired with question-answer sets across 11 diverse categories. Our code and models are freely accessible at https://github.com/mlpc-ucsd/BLIVA.

Large Language Models (LLMs) have recently demonstrated exceptional performance in various Natural Language Processing (NLP) tasks. They have also shown the ability to perform chain-of-thought (CoT) reasoning to solve complex problems. Recent studies have explored CoT reasoning in complex multimodal scenarios, such as the science question answering task, by fine-tuning multimodal models with high-quality human-annotated CoT rationales. However, collecting high-quality COT rationales is usually time-consuming and costly. Besides, the annotated rationales are hardly accurate due to the external essential information missed. To address these issues, we propose a novel method termed T-SciQ that aims at teaching science question answering with LLM signals. The T-SciQ approach generates high-quality CoT rationales as teaching signals and is advanced to train much smaller models to perform CoT reasoning in complex modalities. Additionally, we introduce a novel data mixing strategy to produce more effective teaching data samples for simple and complex science question answer problems. Extensive experimental results show that our T-SciQ method achieves a new state-of-the-art performance on the ScienceQA benchmark, with an accuracy of 96.18%. Moreover, our approach outperforms the most powerful fine-tuned baseline by 4.5%. The code is publicly available at https://github.com/T-SciQ/T-SciQ.

Extracting key information from scientific papers has the potential to help researchers work more efficiently and accelerate the pace of scientific progress. Over the last few years, research on Scientific Information Extraction (SciIE) witnessed the release of several new systems and benchmarks. However, existing paper-focused datasets mostly focus only on specific parts of a manuscript (e.g., abstracts) and are single-modality (i.e., text- or table-only), due to complex processing and expensive annotations. Moreover, core information can be present in either text or tables or across both. To close this gap in data availability and enable cross-modality IE, while alleviating labeling costs, we propose a semi-supervised pipeline for annotating entities in text, as well as entities and relations in tables, in an iterative procedure. Based on this pipeline, we release novel resources for the scientific community, including a high-quality benchmark, a large-scale corpus, and a semi-supervised annotation pipeline. We further report the performance of state-of-the-art IE models on the proposed benchmark dataset, as a baseline. Lastly, we explore the potential capability of large language models such as ChatGPT for the current task. Our new dataset, results, and analysis validate the effectiveness and efficiency of our semi-supervised pipeline, and we discuss its remaining limitations.

We introduce ZeroSCROLLS, a zero-shot benchmark for natural language understanding over long texts, which contains only test and small validation sets, without training data. We adapt six tasks from the SCROLLS benchmark, and add four new datasets, including two novel information fusing tasks, such as aggregating the percentage of positive reviews. Using ZeroSCROLLS, we conduct a comprehensive evaluation of both open-source and closed large language models, finding that Claude outperforms ChatGPT, and that GPT-4 achieves the highest average score. However, there is still room for improvement on multiple open challenges in ZeroSCROLLS, such as aggregation tasks, where models struggle to pass the naive baseline. As the state of the art is a moving target, we invite researchers to evaluate their ideas on the live ZeroSCROLLS leaderboard.

Large language models (LLMs) are increasingly employed for complex multi-step planning tasks, where the tool retrieval (TR) step is crucial for achieving successful outcomes. Two prevalent approaches for TR are single-step retrieval, which utilizes the complete query, and sequential retrieval using task decomposition (TD), where a full query is segmented into discrete atomic subtasks. While single-step retrieval lacks the flexibility to handle "inter-tool dependency," the TD approach necessitates maintaining "subtask-tool atomicity alignment," as the toolbox can evolve dynamically. To address these limitations, we introduce the Progressive Tool retrieval to Improve Planning (ProTIP) framework. ProTIP is a lightweight, contrastive learning-based framework that implicitly performs TD without the explicit requirement of subtask labels, while simultaneously maintaining subtask-tool atomicity. On the ToolBench dataset, ProTIP outperforms the ChatGPT task decomposition-based approach by a remarkable margin, achieving a 24% improvement in Recall@K=10 for TR and a 41% enhancement in tool accuracy for plan generation.

Instruction tuning has shown promising potential for developing general-purpose AI capabilities by using large-scale pre-trained models and boosts growing research to integrate multimodal information for creative applications. However, existing works still face two main limitations: the high training costs and heavy computing resource dependence of full model fine-tuning, and the lack of semantic information in instructions, which hinders multimodal alignment. Addressing these challenges, this paper proposes a novel approach to utilize Parameter-Efficient Tuning for generAl-purpose vision-Language models, namely PETAL. PETAL revolutionizes the training process by requiring only 0.5% of the total parameters, achieved through a unique mode approximation technique, which significantly reduces the training costs and reliance on heavy computing resources. Furthermore, PETAL enhances the semantic depth of instructions in two innovative ways: 1) by introducing adaptive instruction mixture-of-experts(MOEs), and 2) by fortifying the score-based linkage between parameter-efficient tuning and mutual information. Our extensive experiments across five multimodal downstream benchmarks reveal that PETAL not only outperforms current state-of-the-art methods in most scenarios but also surpasses full fine-tuning models in effectiveness. Additionally, our approach demonstrates remarkable advantages in few-shot settings, backed by comprehensive visualization analyses. Our source code is available at: https://github. com/melonking32/PETAL.

Using a novel professional certification survey, the study focuses on assessing the vocational skills of two highly cited AI models, GPT-3 and Turbo-GPT3.5. The approach emphasizes the importance of practical readiness over academic performance by examining the models' performances on a benchmark dataset consisting of 1149 professional certifications. This study also includes a comparison with human test scores, providing perspective on the potential of AI models to match or even surpass human performance in professional certifications. GPT-3, even without any fine-tuning or exam preparation, managed to achieve a passing score (over 70% correct) on 39% of the professional certifications. It showcased proficiency in computer-related fields, including cloud and virtualization, business analytics, cybersecurity, network setup and repair, and data analytics. Turbo-GPT3.5, on the other hand, scored a perfect 100% on the highly regarded Offensive Security Certified Professional (OSCP) exam. This model also demonstrated competency in diverse professional fields, such as nursing, licensed counseling, pharmacy, and aviation. Turbo-GPT3.5 exhibited strong performance on customer service tasks, indicating potential use cases in enhancing chatbots for call centers and routine advice services. Both models also scored well on sensory and experience-based tests outside a machine's traditional roles, including wine sommelier, beer tasting, emotional quotient, and body language reading. The study found that OpenAI's model improvement from Babbage to Turbo led to a 60% better performance on the grading scale within a few years. This progress indicates that addressing the current model's limitations could yield an AI capable of passing even the most rigorous professional certifications.

Aligning intelligent agents with human preferences and values is important. This paper examines two popular alignment methods: Direct Preference Optimization (DPO) and Reward-Model-Based Policy Optimization (RMB-PO). A variant of RMB-PO, referred to as RMB-PO+ is also considered. These methods, either explicitly or implicitly, learn a reward model from preference data and differ in the data used for policy optimization to unlock the generalization ability of the reward model. In particular, compared with DPO, RMB-PO additionally uses policy-generated data, and RMB-PO+ further leverages new, preference-free data. We examine the impact of such out-of-preference data. Our study, conducted through controlled and synthetic experiments, demonstrates that DPO performs poorly, whereas RMB-PO+ performs the best. In particular, even when providing the policy model with a good feature representation, we find that policy optimization with adequate out-of-preference data significantly improves performance by harnessing the reward model's generalization capabilities.