Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability in few-shot robotic planning. However, it remains challenging to ground LLMs in multimodal sensory input and continuous action output, while enabling a robot to interact with its environment and acquire novel information as its policies unfold. We develop a robot interaction scenario with a partially observable state, which necessitates a robot to decide on a range of epistemic actions in order to sample sensory information among multiple modalities, before being able to execute the task correctly. Matcha (Multimodal environment chatting) agent, an interactive perception framework, is therefore proposed with an LLM as its backbone, whose ability is exploited to instruct epistemic actions and to reason over the resulting multimodal sensations (vision, sound, haptics, proprioception), as well as to plan an entire task execution based on the interactively acquired information. Our study demonstrates that LLMs can provide high-level planning and reasoning skills and control interactive robot behavior in a multimodal environment, while multimodal modules with the context of the environmental state help ground the LLMs and extend their processing ability. The project website can be found at https://matcha-agent.github.io.

This paper introduces a simple yet effective query expansion approach, denoted as query2doc, to improve both sparse and dense retrieval systems. The proposed method first generates pseudo-documents by few-shot prompting large language models (LLMs), and then expands the query with generated pseudo-documents. LLMs are trained on web-scale text corpora and are adept at knowledge memorization. The pseudo-documents from LLMs often contain highly relevant information that can aid in query disambiguation and guide the retrievers. Experimental results demonstrate that query2doc boosts the performance of BM25 by 3% to 15% on ad-hoc IR datasets, such as MS-MARCO and TREC DL, without any model fine-tuning. Furthermore, our method also benefits state-of-the-art dense retrievers in terms of both in-domain and out-of-domain results.

Poisoning of data sets is a potential security threat to large language models that can lead to backdoored models. A description of the internal mechanisms of backdoored language models and how they process trigger inputs, e.g., when switching to toxic language, has yet to be found. In this work, we study the internal representations of transformer-based backdoored language models and determine early-layer MLP modules as most important for the backdoor mechanism in combination with the initial embedding projection. We use this knowledge to remove, insert, and modify backdoor mechanisms with engineered replacements that reduce the MLP module outputs to essentials for the backdoor mechanism. To this end, we introduce PCP ablation, where we replace transformer modules with low-rank matrices based on the principal components of their activations. We demonstrate our results on backdoored toy, backdoored large, and non-backdoored open-source models. We show that we can improve the backdoor robustness of large language models by locally constraining individual modules during fine-tuning on potentially poisonous data sets. Trigger warning: Offensive language.

The detection of state-sponsored trolls operating in influence campaigns on social media is a critical and unsolved challenge for the research community, which has significant implications beyond the online realm. To address this challenge, we propose a new AI-based solution that identifies troll accounts solely through behavioral cues associated with their sequences of sharing activity, encompassing both their actions and the feedback they receive from others. Our approach does not incorporate any textual content shared and consists of two steps: First, we leverage an LSTM-based classifier to determine whether account sequences belong to a state-sponsored troll or an organic, legitimate user. Second, we employ the classified sequences to calculate a metric named the "Troll Score", quantifying the degree to which an account exhibits troll-like behavior. To assess the effectiveness of our method, we examine its performance in the context of the 2016 Russian interference campaign during the U.S. Presidential election. Our experiments yield compelling results, demonstrating that our approach can identify account sequences with an AUC close to 99% and accurately differentiate between Russian trolls and organic users with an AUC of 91%. Notably, our behavioral-based approach holds a significant advantage in the ever-evolving landscape, where textual and linguistic properties can be easily mimicked by Large Language Models (LLMs): In contrast to existing language-based techniques, it relies on more challenging-to-replicate behavioral cues, ensuring greater resilience in identifying influence campaigns, especially given the potential increase in the usage of LLMs for generating inauthentic content. Finally, we assessed the generalizability of our solution to various entities driving different information operations and found promising results that will guide future research.

Scaling of deep neural networks, especially Transformers, is pivotal for their surging performance and has further led to the emergence of sophisticated reasoning capabilities in foundation models. Such scaling generally requires training large models from scratch with random initialization, failing to leverage the knowledge acquired by their smaller counterparts, which are already resource-intensive to obtain. To tackle this inefficiency, we present $\textbf{L}$ossl$\textbf{E}$ss $\textbf{MO}$del Expansio$\textbf{N}$ (LEMON), a recipe to initialize scaled models using the weights of their smaller but pre-trained counterparts. This is followed by model training with an optimized learning rate scheduler tailored explicitly for the scaled models, substantially reducing the training time compared to training from scratch. Notably, LEMON is versatile, ensuring compatibility with various network structures, including models like Vision Transformers and BERT. Our empirical results demonstrate that LEMON reduces computational costs by 56.7% for Vision Transformers and 33.2% for BERT when compared to training from scratch.

Amid the many debates about the potential dangers of artificial intelligence, some researchers argue that an important concern is being overlooked: the energy used by computers to train and run large AI models. Alex de Vries at the VU Amsterdam School of Business and Economics warns that AI's growth is poised to make it a significant contributor to global carbon emissions. He estimates that if Google switched its whole search business to AI, it would end up using 29.3 terawatt hours per year – equivalent to the electricity consumption of Ireland, and almost double the company's total energy consumption of 15.4 terawatt hours in 2020. On one hand, there is good reason not to panic. Making that sort of switch is practically impossible, as it would require more than 4 million powerful computer chips known as graphics processing units (GPUs) that are currently in huge demand, with limited supply.

We explore the ability of large language models (LLMs) to act as speech recognition post-processors that perform rescoring and error correction. Our first focus is on instruction prompting to let LLMs perform these task without fine-tuning, for which we evaluate different prompting schemes, both zero- and few-shot in-context learning, and a novel task activation prompting method that combines causal instructions and demonstration to increase its context windows. Next, we show that rescoring only by in-context learning with frozen LLMs achieves results that are competitive with rescoring by domain-tuned LMs, using a pretrained first-pass recognition system and rescoring output on two out-of-domain tasks (ATIS and WSJ). By combining prompting techniques with fine-tuning we achieve error rates below the N-best oracle level, showcasing the generalization power of the LLMs.

However, as the size of the pretrained models increases, the cost associated We propose a neural language modeling system based on with fine-tuning and deploying these models for low-rank adaptation (LoRA) for speech recognition output real-world applications also escalates. To address this practical rescoring. Although pretrained language models (LMs) challenge, a range of parameter-efficient methods (e.g., like BERT have shown superior performance in second-pass adapters, model reprogramming, and prompts) have been proposed rescoring, the high computational cost of scaling up the pretraining [11, 12, 13, 14, 15, 16, 17, 18] to alleviate the computation stage and adapting the pretrained models to specific and memory demands of fine-tuning LLMs. Low-rank domains limit their practical use in rescoring. Here we present adaptation (LoRA) [19] freezes all pretrained parameters in a method based on low-rank decomposition to train a rescoring the LLM and inserts a trainable pair of matrices (acting as a BERT model and adapt it to new domains using only a low-rank decomposition of a full matrix) additively into each fraction (0.08%) of the pretrained parameters. These inserted layer of the Transformer architecture. Compared to other matrices are optimized through a discriminative training objective parameter-efficient training methods, such as adapters [12], along with a correlation-based regularization loss. The LoRA has two distinct advantages: 1) it employs a simple proposed low-rank adaptation RescoreBERT (LoRB) architecture architecture and has the potential to reduce the number of is evaluated on LibriSpeech and internal datasets with trainable parameters compared to alternatives; 2) LoRA does decreased training times by factors between 5.4 and 3.6.

Generative Pre-trained Transformer (GPT) models have achieved remarkable performance on various natural language processing tasks. However, there has been limited research on applying similar frameworks to audio tasks. Previously proposed large language models for audio tasks either lack sufficient quantitative evaluations, or are limited to tasks for recognizing and understanding audio content, or significantly underperform existing state-of-the-art (SOTA) models. In this paper, we propose LauraGPT, a unified GPT model for audio recognition, understanding, and generation. LauraGPT is a versatile language model that can process both audio and text inputs and generate outputs in either modalities. It can perform a wide range of tasks related to content, semantics, paralinguistics, and audio-signal analysis. Some of its noteworthy tasks include automatic speech recognition, speech-to-text translation, text-to-speech synthesis, machine translation, speech enhancement, automated audio captioning, speech emotion recognition, and spoken language understanding. To achieve this goal, we use a combination of continuous and discrete features for audio. We encode input audio into continuous representations using an audio encoder and decode output audio from discrete codec codes. We then fine-tune a large decoder-only Transformer-based language model on multiple audio-to-text, text-to-audio, audio-to-audio, and text-to-text tasks using a supervised multitask learning approach. Extensive experiments show that LauraGPT achieves competitive or superior performance compared to existing SOTA models on various audio processing benchmarks.

In this paper, we conduct a comprehensive study of In-Context Learning (ICL) by addressing several open questions: (a) What type of ICL estimator is learned by large language models? (b) What is a proper performance metric for ICL and what is the error rate? (c) How does the transformer architecture enable ICL? To answer these questions, we adopt a Bayesian view and formulate ICL as a problem of predicting the response corresponding to the current covariate, given a number of examples drawn from a latent variable model. To answer (a), we show that, without updating the neural network parameters, ICL implicitly implements the Bayesian model averaging algorithm, which is proven to be approximately parameterized by the attention mechanism. For (b), we analyze the ICL performance from an online learning perspective and establish a $\mathcal{O}(1/T)$ regret bound for perfectly pretrained ICL, where $T$ is the number of examples in the prompt. To answer (c), we show that, in addition to encoding Bayesian model averaging via attention, the transformer architecture also enables a fine-grained statistical analysis of pretraining under realistic assumptions. In particular, we prove that the error of pretrained model is bounded by a sum of an approximation error and a generalization error, where the former decays to zero exponentially as the depth grows, and the latter decays to zero sublinearly with the number of tokens in the pretraining dataset. Our results provide a unified understanding of the transformer and its ICL ability with bounds on ICL regret, approximation, and generalization, which deepens our knowledge of these essential aspects of modern language models.