Understanding how humans leverage semantic knowledge to navigate unfamiliar environments and decide where to explore next is pivotal for developing robots capable of human-like search behaviors. We introduce a zero-shot navigation approach, Vision-Language Frontier Maps (VLFM), which is inspired by human reasoning and designed to navigate towards unseen semantic objects in novel environments. VLFM builds occupancy maps from depth observations to identify frontiers, and leverages RGB observations and a pre-trained vision-language model to generate a language-grounded value map. VLFM then uses this map to identify the most promising frontier to explore for finding an instance of a given target object category. We evaluate VLFM in photo-realistic environments from the Gibson, Habitat-Matterport 3D (HM3D), and Matterport 3D (MP3D) datasets within the Habitat simulator. Remarkably, VLFM achieves state-of-the-art results on all three datasets as measured by success weighted by path length (SPL) for the Object Goal Navigation task. Furthermore, we show that VLFM's zero-shot nature enables it to be readily deployed on real-world robots such as the Boston Dynamics Spot mobile manipulation platform. We deploy VLFM on Spot and demonstrate its capability to efficiently navigate to target objects within an office building in the real world, without any prior knowledge of the environment. The accomplishments of VLFM underscore the promising potential of vision-language models in advancing the field of semantic navigation. Videos of real-world deployment can be viewed at naoki.io/vlfm.

Modular and composable transfer learning is an emerging direction in the field of Parameter Efficient Fine-Tuning, as it enables neural networks to better organize various aspects of knowledge, leading to improved cross-task generalization. In this paper, we introduce a novel approach Customized Polytropon (C-Poly) that combines task-common skills and task-specific skills, while the skill parameters being highly parameterized using low-rank techniques. Each task is associated with a customizable number of exclusive specialized skills and also benefits from skills shared with peer tasks. A skill assignment matrix is jointly learned. To evaluate our approach, we conducted extensive experiments on the Super-NaturalInstructions and the SuperGLUE benchmarks. Our findings demonstrate that C-Poly outperforms fully-shared, task-specific, and skill-indistinguishable baselines, significantly enhancing the sample efficiency in multi-task learning scenarios. As the number of parameters in Large Language Models (LLMs) continues to grow, training these models efficiently with limited computational resources has become a challenge. In recent years, there has been a shift towards employing Parameter Effective Fine-Tuning (PEFT) methods to address this issue. Examples of such methods include LoRA (Hu et al., 2022), AdaLoRA (Zhang et al., 2023a), and (IA) These methods focus on fine-tuning the adapter while freezing the pre-trained model, effectively reducing the computational cost.

E-commerce search and recommendation usually operate on structured data such as product catalogs and taxonomies. However, creating better search and recommendation systems often requires a large variety of unstructured data including customer reviews and articles on the web. Traditionally, the solution has always been converting unstructured data into structured data through information extraction, and conducting search over the structured data. However, this is a costly approach that often has low quality. In this paper, we envision a solution that does entirely the opposite. Instead of converting unstructured data (web pages, customer reviews, etc) to structured data, we instead convert structured data (product inventory, catalogs, taxonomies, etc) into textual data, which can be easily integrated into the text corpus that trains LLMs. Then, search and recommendation can be performed through a Q/A mechanism through an LLM instead of using traditional information retrieval methods over structured data.

With the growth of large language models, now incorporating billions of parameters, the hardware prerequisites for their training and deployment have seen a corresponding increase. Although existing tools facilitate model parallelization and distributed training, deeper model interactions, crucial for interpretability and responsible AI techniques, still demand thorough knowledge of distributed computing. This often hinders contributions from researchers with machine learning expertise but limited distributed computing background. Addressing this challenge, we present FlexModel, a software package providing a streamlined interface for engaging with models distributed across multi-GPU and multi-node configurations. The library is compatible with existing model distribution libraries and encapsulates PyTorch models. It exposes user-registerable HookFunctions to facilitate straightforward interaction with distributed model internals, bridging the gap between distributed and single-device model paradigms. Primarily, FlexModel enhances accessibility by democratizing model interactions and promotes more inclusive research in the domain of large-scale neural networks.

The past year has witnessed the increasing popularity of Large Language Models (LLMs). Their unprecedented scale and associated high hardware cost have impeded their broader adoption, calling for efficient hardware designs. With the large hardware needed to simply run LLM inference, evaluating different hardware designs becomes a new bottleneck. This work introduces LLMCompass, a hardware evaluation framework for LLM inference workloads. LLMCompass is fast, accurate, versatile, and able to describe and evaluate different hardware designs. LLMCompass includes a mapper to automatically find performance-optimal mapping and scheduling. It also incorporates an area-based cost model to help architects reason about their design choices. Compared to real-world hardware, LLMCompass' estimated latency achieves an average 10.4% error rate across various operators with various input sizes and an average 4.1% error rate for LLM inference. With LLMCompass, simulating a 4-NVIDIA A100 GPU node running GPT-3 175B inference can be done within 16 minutes on commodity hardware, including 26,400 rounds of the mapper's parameter search. With the aid of LLMCompass, this work draws architectural implications and explores new cost-effective hardware designs. By reducing the compute capability or replacing High Bandwidth Memory (HBM) with traditional DRAM, these new designs can achieve as much as 3.41x improvement in performance/cost compared to an NVIDIA A100, making them promising choices for democratizing LLMs. LLMCompass is planned to be fully open-source.

Physicians write notes about patients. In doing so, they reveal much about themselves. Using data from 129,228 emergency room visits, we train a model to identify notes written by fatigued physicians -- those who worked 5 or more of the prior 7 days. In a hold-out set, the model accurately identifies notes written by these high-workload physicians, and also flags notes written in other high-fatigue settings: on overnight shifts, and after high patient volumes. Model predictions also correlate with worse decision-making on at least one important metric: yield of testing for heart attack is 18% lower with each standard deviation increase in model-predicted fatigue. Finally, the model indicates that notes written about Black and Hispanic patients have 12% and 21% higher predicted fatigue than Whites -- larger than overnight vs. daytime differences. These results have an important implication for large language models (LLMs). Our model indicates that fatigued doctors write more predictable notes. Perhaps unsurprisingly, because word prediction is the core of how LLMs work, we find that LLM-written notes have 17% higher predicted fatigue than real physicians' notes. This indicates that LLMs may introduce distortions in generated text that are not yet fully understood.

Solving complex visual tasks such as "Who invented the musical instrument on the right?" involves a composition of skills: understanding space, recognizing instruments, and also retrieving prior knowledge. Recent work shows promise by decomposing such tasks using a large language model (LLM) into an executable program that invokes specialized vision models. However, generated programs are error-prone: they omit necessary steps, include spurious ones, and are unable to recover when the specialized models give incorrect outputs. Moreover, they require loading multiple models, incurring high latency and computation costs. We propose Visual Program Distillation (VPD), an instruction tuning framework that produces a vision-language model (VLM) capable of solving complex visual tasks with a single forward pass. VPD distills the reasoning ability of LLMs by using them to sample multiple candidate programs, which are then executed and verified to identify a correct one. It translates each correct program into a language description of the reasoning steps, which are then distilled into a VLM. Extensive experiments show that VPD improves the VLM's ability to count, understand spatial relations, and reason compositionally. Our VPD-trained PaLI-X outperforms all prior VLMs, achieving state-of-the-art performance across complex vision tasks, including MMBench, OK-VQA, A-OKVQA, TallyQA, POPE, and Hateful Memes. An evaluation with human annotators also confirms that VPD improves model response factuality and consistency. Finally, experiments on content moderation demonstrate that VPD is also helpful for adaptation to real-world applications with limited data.

Despite the significant advancements in natural language processing capabilities demonstrated by large language models such as ChatGPT, their proficiency in comprehending and processing spatial information, especially within the domains of 2D and 3D route planning, remains notably underdeveloped. This paper investigates the inherent limitations of ChatGPT and similar models in spatial reasoning and navigation-related tasks, an area critical for applications ranging from autonomous vehicle guidance to assistive technologies for the visually impaired. In this paper, we introduce a novel evaluation framework complemented by a baseline dataset, meticulously crafted for this study. This dataset is structured around three key tasks: plotting spatial points, planning routes in two-dimensional (2D) spaces, and devising pathways in three-dimensional (3D) environments. We specifically developed this dataset to assess the spatial reasoning abilities of ChatGPT. Our evaluation reveals key insights into the model's capabilities and limitations in spatial understanding.

Database administrators (DBAs) play an important role in managing, maintaining and optimizing database systems. However, it is hard and tedious for DBAs to manage a large number of databases and give timely response (waiting for hours is intolerable in many online cases). In addition, existing empirical methods only support limited diagnosis scenarios, which are also labor-intensive to update the diagnosis rules for database version updates. Recently large language models (LLMs) have shown great potential in various fields. Thus, we propose D-Bot, an LLM-based database diagnosis system that can automatically acquire knowledge from diagnosis documents, and generate reasonable and well-founded diagnosis report (i.e., identifying the root causes and solutions) within acceptable time (e.g., under 10 minutes compared to hours by a DBA). The techniques in D-Bot include (i) offline knowledge extraction from documents, (ii) automatic prompt generation (e.g., knowledge matching, tool retrieval), (iii) root cause analysis using tree search algorithm, and (iv) collaborative mechanism for complex anomalies with multiple root causes. We verify D-Bot on real benchmarks (including 539 anomalies of six typical applications), and the results show that D-Bot can effectively analyze the root causes of unseen anomalies and significantly outperforms traditional methods and vanilla models like GPT-4.

Large Language Models (LLMs) have achieved tremendous progress, yet they still often struggle with challenging reasoning problems. Current approaches address this challenge by sampling or searching detailed and low-level reasoning chains. However, these methods are still limited in their exploration capabilities, making it challenging for correct solutions to stand out in the huge solution space. In this work, we unleash LLMs' creative potential for exploring multiple diverse problem solving strategies by framing an LLM as a hierarchical policy via in-context learning. This policy comprises of a visionary leader that proposes multiple diverse high-level problem-solving tactics as hints, accompanied by a follower that executes detailed problem-solving processes following each of the high-level instruction. The follower uses each of the leader's directives as a guide and samples multiple reasoning chains to tackle the problem, generating a solution group for each leader proposal. Additionally, we propose an effective and efficient tournament-based approach to select among these explored solution groups to reach the final answer. Our approach produces meaningful and inspiring hints, enhances problem-solving strategy exploration, and improves the final answer accuracy on challenging problems in the MATH dataset. Code will be released at https://github.com/lz1oceani/LLM-As-Hierarchical-Policy.