We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills this data down into a robust multi-task language-conditioned visuo-motor policy. For (1), we use a large language model (LLM) to guide high-level planning, and sampling-based robot planners (e.g. motion or grasp samplers) for generating diverse and rich manipulation trajectories. To robustify this data-collection process, the LLM also infers a code-snippet for the success condition of each task, simultaneously enabling the data-collection process to detect failure and retry as well as the automatic labeling of trajectories with success/failure. For (2), we extend the diffusion policy single-task behavior-cloning approach to multi-task settings with language conditioning. Finally, we propose a new multi-task benchmark with 18 tasks across five domains to test long-horizon behavior, common-sense reasoning, tool-use, and intuitive physics. We find that our distilled policy successfully learned the robust retrying behavior in its data collection procedure, while improving absolute success rates by 33.2% on average across five domains. Code, data, and additional qualitative results are available on https://www.cs.columbia.edu/~huy/scalingup/.

Large language models (LLMs) encode a vast amount of semantic knowledge and possess remarkable understanding and reasoning capabilities. Previous work has explored how to ground LLMs in robotic tasks to generate feasible and executable textual plans. However, low-level execution in the physical world may deviate from the high-level textual plan due to environmental perturbations or imperfect controller design. In this paper, we propose \textbf{DoReMi}, a novel language model grounding framework that enables immediate Detection and Recovery from Misalignments between plan and execution. Specifically, we leverage LLMs to play a dual role, aiding not only in high-level planning but also generating constraints that can indicate misalignment during execution. Then vision language models (VLMs) are utilized to detect constraint violations continuously. Our pipeline can monitor the low-level execution and enable timely recovery if certain plan-execution misalignment occurs. Experiments on various complex tasks including robot arms and humanoid robots demonstrate that our method can lead to higher task success rates and shorter task completion times. Videos of DoReMi are available at \url{https://sites.google.com/view/doremi-paper}.

Information extraction tasks such as event extraction require an in-depth understanding of the output structure and sub-task dependencies. They heavily rely on task-specific training data in the form of (passage, target structure) pairs to obtain reasonable performance. However, obtaining such data through human annotation is costly, leading to a pressing need for low-resource information extraction approaches that require minimal human labeling for real-world applications. Fine-tuning supervised models with synthesized training data would be a generalizable method, but the existing data generation methods either still rely on large-scale ground-truth data or cannot be applied to complicated IE tasks due to their poor performance. To address these challenges, we propose STAR, a data generation method that leverages Large Language Models (LLMs) to synthesize data instances given limited seed demonstrations, thereby boosting low-resource information extraction performance. Our approach involves generating target structures (Y) followed by generating passages (X), all accomplished with the aid of LLMs. We design fine-grained step-by-step instructions to obtain the initial data instances. We further reduce errors and improve data quality through self-reflection error identification and self-refinement with iterative revision. Our experiments show that the data generated by STAR significantly improves the performance of low-resource event extraction and relation extraction tasks, even surpassing the effectiveness of human-curated data. Human assessment of the data quality shows STAR-generated data exhibits higher passage quality and better align with the task definitions compared with the human-curated data.

Recent developments in large language models (LLMs) have been impressive. However, these models sometimes show inconsistencies and problematic behavior, such as hallucinating facts, generating flawed code, or creating offensive and toxic content. Unlike these models, humans typically utilize external tools to cross-check and refine their initial content, like using a search engine for fact-checking, or a code interpreter for debugging. Inspired by this observation, we introduce a framework called CRITIC that allows LLMs, which are essentially "black boxes" to validate and progressively amend their own outputs in a manner similar to human interaction with tools. More specifically, starting with an initial output, CRITIC interacts with appropriate tools to evaluate certain aspects of the text, and then revises the output based on the feedback obtained during this validation process. Comprehensive evaluations involving free-form question answering, mathematical program synthesis, and toxicity reduction demonstrate that CRITIC consistently enhances the performance of LLMs. Meanwhile, our research highlights the crucial importance of external feedback in promoting the ongoing self-improvement of LLMs.

In-context learning (ICL) is an important capability of Large Language Models (LLMs), enabling these models to dynamically adapt based on specific, in-context exemplars, thereby improving accuracy and relevance. However, LLM's responses may leak the sensitive private information contained in in-context exemplars. To address this challenge, we propose Differentially Private In-context Learning (DP-ICL), a general paradigm for privatizing ICL tasks. The key idea for DP-ICL paradigm is generating differentially private responses through a noisy consensus among an ensemble of LLM's responses based on disjoint exemplar sets. Based on the general paradigm of DP-ICL, we instantiate several techniques showing how to privatize ICL for text classification and language generation. We evaluate DP-ICL on four text classification benchmarks and two language generation tasks, and our empirical results show that DP-ICL achieves a strong utility-privacy tradeoff.

Robot sequential decision-making in the real world is a challenge because it requires the robots to simultaneously reason about the current world state and dynamics, while planning actions to accomplish complex tasks. On the one hand, declarative languages and reasoning algorithms well support representing and reasoning with commonsense knowledge. But these algorithms are not good at planning actions toward maximizing cumulative reward over a long, unspecified horizon. On the other hand, probabilistic planning frameworks, such as Markov decision processes (MDPs) and partially observable MDPs (POMDPs), well support planning to achieve long-term goals under uncertainty. But they are ill-equipped to represent or reason about knowledge that is not directly related to actions. In this article, we present a novel algorithm, called iCORPP, to simultaneously estimate the current world state, reason about world dynamics, and construct task-oriented controllers. In this process, robot decision-making problems are decomposed into two interdependent (smaller) subproblems that focus on reasoning to "understand the world" and planning to "achieve the goal" respectively. Contextual knowledge is represented in the reasoning component, which makes the planning component epistemic and enables active information gathering. The developed algorithm has been implemented and evaluated both in simulation and on real robots using everyday service tasks, such as indoor navigation, dialog management, and object delivery. Results show significant improvements in scalability, efficiency, and adaptiveness, compared to competitive baselines including handcrafted action policies.

Ever since artificial intelligence became available to the public, ChatGPT has been one of the go-to services for many user's AI needs. By now, millions of people have visited the Chat GPT website, and many more continue to do so. However, ChatGPT isn't the only framework for AI – nor is it necessarily the best option out there. There are other sites that offer similar or even better services than ChatGPT. In other words, you can easily find a ChatGPT alternative – if you know where to look.

ChatGPT is preparing to take on Apple in a ground-breaking move to craft an'iPhone of artificial intelligence', a report has claimed. Ex-iPhone designer, Sir Jony Ive, is in'advanced talks' with OpenAI's CEO, Sam Altman, as the pair seek to unleash an AI-centred device to the mass market. The device, which is still in its brainstorming phases, is goaled towards a seamless integration of AI that is'more natural' for users to navigate, according to The Financial Times. It's a leap that's been compared to the revolution of Apple's first touchscreen device in 2007, but comes as many believe Tim Cook's innovation has plateaued. Billionaire Masayoshi Son, who founded the Japanese telecom giant SoftBank, is said to be in on the talks too, and has even proposed $1billion in funds.

ChatGPT has proven it can help students with their homework, but now it is helping teachers create those very courses, a computer science professor told Fox News. The popular artifical intelligence platform ChatGPT will now be able to respond to spoken words and images, causing concern among some experts who believe the application could lead to unwanted invasions of privacy. OpenAI, the company behind ChatGPT, released the new version of the chatbot on Monday, allowing it for the first time to interact with users with the spoken word, according to a report from the New York Times. "We're looking to make ChatGPT easier to use – and more helpful," Peter Deng, OpenAI's vice president of consumer and enterprise product, told the New York Times. GOOGLE'S AI IS TRYING TO ONE-UP CHATGPT AND BING WITH NEW EVERYDAY AI FEATURES Microsoft Bing Chat and ChatGPT AI chat applications are seen on a mobile device.

Despite being a unique source of information on patients' status and disease progression, clinical notes are characterized by high levels of duplication and information redundancy. In general domain text, it has been shown that deduplication does not harm language model (LM) pretraining, thus helping reduce the training cost. Although large LMs have proven to learn medical knowledge, they still require specialized domain adaptation for improved downstream clinical tasks. By leveraging large real-world clinical corpora, we first provided a fine-grained characterization of duplicates stemming from common writing practices and clinical relevancy. Second, we demonstrated that deduplicating clinical text can help clinical LMs encode less redundant information in a more efficient manner and do not harm classification tasks via prompt-based learning.