Pre-trained large language models (LLMs) have recently achieved better generalization and sample efficiency in autonomous web automation. However, the performance on real-world websites has still suffered from (1) open domainness, (2) limited context length, and (3) lack of inductive bias on HTML. We introduce WebAgent, an LLM-driven agent that learns from self-experience to complete tasks on real websites following natural language instructions. WebAgent plans ahead by decomposing instructions into canonical sub-instructions, summarizes long HTML documents into task-relevant snippets, and acts on websites via Python programs generated from those. We design WebAgent with Flan-U-PaLM, for grounded code generation, and HTML-T5, new pre-trained LLMs for long HTML documents using local and global attention mechanisms and a mixture of long-span denoising objectives, for planning and summarization. We empirically demonstrate that our modular recipe improves the success on real websites by over 50%, and that HTML-T5 is the best model to solve various HTML understanding tasks; achieving 18.7% higher success rate than the prior method on MiniWoB web automation benchmark, and SoTA performance on Mind2Web, an offline task planning evaluation.

The progress of autonomous web navigation has been hindered by the dependence on billions of exploratory interactions via online reinforcement learning, and domain-specific model designs that make it difficult to leverage generalization from rich out-of-domain data. In this work, we study data-driven offline training for web agents with vision-language foundation models. We propose an instruction-following multimodal agent, WebGUM, that observes both webpage screenshots and HTML pages and outputs web navigation actions, such as click and type. WebGUM is trained by jointly finetuning an instruction-finetuned language model and a vision encoder with temporal and local perception on a large corpus of demonstrations. We empirically demonstrate this recipe improves the agent's ability of grounded multimodal perception, HTML comprehension, and multi-step reasoning, outperforming prior works by a significant margin. On the MiniWoB, we improve over the previous best offline methods by more than 45.8%, even outperforming online-finetuned SoTA, humans, and GPT-4-based agent. On the WebShop benchmark, our 3-billion-parameter model achieves superior performance to the existing SoTA, PaLM-540B. Furthermore, WebGUM exhibits strong positive transfer to the real-world planning tasks on the Mind2Web. We also collect 347K high-quality demonstrations using our trained models, 38 times larger than prior work, and make them available to promote future research in this direction. Web navigation is a class of sequential decision making problems where agents interact with web interfaces following user instructions (Shi et al., 2017; Liu et al., 2018; Gur et al., 2019). Common web navigation tasks include, for example, form filling (Diaz et al., 2013), information retrieval (Nogueira & Cho, 2016; Adolphs et al., 2022), or sending emails via a sequence of interactions with computer interface such as click or type (Figure 1). Recently, there has been a growing interest in developing agents to automate these actions and free humans from repetitive interactions (Mazumder & Riva, 2020; Li et al., 2020; Shvo et al., 2021). Most prior works studied web navigation problems as online RL to learn the optimal action distribution with task-specific models from scratch (Liu et al., 2018; Gur et al., 2019; Jia et al., 2019; Humphreys et al., 2022).

The advent of large language models (LLMs) has revolutionized natural language processing, enabling the generation of coherent and contextually relevant human-like text. As LLMs increasingly power conversational agents used by the general public world-wide, the synthetic personality embedded in these models, by virtue of training on large amounts of human data, is becoming increasingly important. Since personality is a key factor determining the effectiveness of communication, we present a comprehensive method for administering and validating personality tests on widely-used LLMs, as well as for shaping personality in the generated text of such LLMs. Applying this method, we found: 1) personality measurements in the outputs of some LLMs under specific prompting configurations are reliable and valid; 2) evidence of reliability and validity of synthetic LLM personality is stronger for larger and instruction fine-tuned models; and 3) personality in LLM outputs can be shaped along desired dimensions to mimic specific human personality profiles. We discuss application and ethical implications of the measurement and shaping method, in particular regarding responsible AI.

Simple and effective interaction between human and quadrupedal robots paves the way towards creating intelligent and capable helper robots, forging a future where technology enhances our lives in ways beyond our imagination [1, 2, 3]. Key to such human-robot interaction system is enabling quadrupedal robots to respond to natural language instructions as language is one of the most important communication channels for human beings. Recent developments in Large Language Models (LLMs) have engendered a spectrum of applications that were once considered unachievable, including virtual assistance [4], code generation [5], translation [6], and logical reasoning [7], fueled by the proficiency of LLMs to ingest an enormous amount of historical data, to adapt in-context to novel tasks with few examples, and to understand and interact with user intentions through a natural language interface. The burgeoning success of LLMs has also kindled interest within the robotics researcher community, with an aim to develop interactive and capable systems for physical robots [8, 9, 10, 11, 12, 13]. Researchers have demonstrated the potential of using LLMs to perform high-level planning [8, 9], and robot code writing [11, 13]. Nevertheless, unlike text generation where LLMs directly interpret the atomic elements--tokens--it often proves challenging for LLMs to comprehend low-level robotic commands such as joint angle targets or motor torques, especially for inherently unstable legged robots necessitating high-frequency control signals. Consequently, most existing work presume the provision of high-level APIs for LLMs to dictate robot behaviour, inherently limiting the system's expressive capabilities. We address this limitation by using foot contact patterns as an interface that bridges human instructions in natural language and low-level commands.

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently account for safety and reliability concerns. In this paper, we show how imitation learning combined with reinforcement learning using simple rewards can substantially improve the safety and reliability of driving policies over those learned from imitation alone. In particular, we train a policy on over 100k miles of urban driving data, and measure its effectiveness in test scenarios grouped by different levels of collision likelihood. Our analysis shows that while imitation can perform well in low-difficulty scenarios that are well-covered by the demonstration data, our proposed approach significantly improves robustness on the most challenging scenarios (over 38% reduction in failures). To our knowledge, this is the first application of a combined imitation and reinforcement learning approach in autonomous driving that utilizes large amounts of real-world human driving data.

Machine learning is a prevalent approach to tame the complexity of design space exploration for domain-specific architectures. Using ML for design space exploration poses challenges. First, it's not straightforward to identify the suitable algorithm from an increasing pool of ML methods. Second, assessing the trade-offs between performance and sample efficiency across these methods is inconclusive. Finally, lack of a holistic framework for fair, reproducible, and objective comparison across these methods hinders progress of adopting ML-aided architecture design space exploration and impedes creating repeatable artifacts. To mitigate these challenges, we introduce ArchGym, an open-source gym and easy-to-extend framework that connects diverse search algorithms to architecture simulators. To demonstrate utility, we evaluate ArchGym across multiple vanilla and domain-specific search algorithms in designing custom memory controller, deep neural network accelerators, and custom SoC for AR/VR workloads, encompassing over 21K experiments. Results suggest that with unlimited samples, ML algorithms are equally favorable to meet user-defined target specification if hyperparameters are tuned; no solution is necessarily better than another (e.g., reinforcement learning vs. Bayesian methods). We coin the term hyperparameter lottery to describe the chance for a search algorithm to find an optimal design provided meticulously selected hyperparameters. The ease of data collection and aggregation in ArchGym facilitates research in ML-aided architecture design space exploration. As a case study, we show this advantage by developing a proxy cost model with an RMSE of 0.61% that offers a 2,000-fold reduction in simulation time. Code and data for ArchGym is available at https://bit.ly/ArchGym.

Large language models (LLMs) have shown exceptional performance on a variety of natural language tasks. Yet, their capabilities for HTML understanding -- i.e., parsing the raw HTML of a webpage, with applications to automation of web-based tasks, crawling, and browser-assisted retrieval -- have not been fully explored. We contribute HTML understanding models (fine-tuned LLMs) and an in-depth analysis of their capabilities under three tasks: (i) Semantic Classification of HTML elements, (ii) Description Generation for HTML inputs, and (iii) Autonomous Web Navigation of HTML pages. While previous work has developed dedicated architectures and training procedures for HTML understanding, we show that LLMs pretrained on standard natural language corpora transfer remarkably well to HTML understanding tasks. For instance, fine-tuned LLMs are 12% more accurate at semantic classification compared to models trained exclusively on the task dataset. Moreover, when fine-tuned on data from the MiniWoB benchmark, LLMs successfully complete 50% more tasks using 192x less data compared to the previous best supervised model. Out of the LLMs we evaluate, we show evidence that T5-based models are ideal due to their bidirectional encoder-decoder architecture. To promote further research on LLMs for HTML understanding, we create and open-source a large-scale HTML dataset distilled and auto-labeled from CommonCrawl.

Generalizability and stability are two key objectives for operating reinforcement learning (RL) agents in the real world. Designing RL algorithms that optimize these objectives can be a costly and painstaking process. This paper presents MetaPG, an evolutionary method for automated design of actor-critic loss functions. MetaPG explicitly optimizes for generalizability and performance, and implicitly optimizes the stability of both metrics. We initialize our loss function population with Soft Actor-Critic (SAC) and perform multi-objective optimization using fitness metrics encoding single-task performance, zero-shot generalizability to unseen environment configurations, and stability across independent runs with different random seeds. On a set of continuous control tasks from the Real-World RL Benchmark Suite, we find that our method, using a single environment during evolution, evolves algorithms that improve upon SAC's performance and generalizability by 4% and 20%, respectively, and reduce instability up to 67%. Then, we scale up to more complex environments from the Brax physics simulator and replicate generalizability tests encountered in practical settings, such as different friction coefficients. MetaPG evolves algorithms that can obtain 10% better generalizability without loss of performance within the same meta-training environment and obtain similar results to SAC when doing cross-domain evaluations in other Brax environments. The evolution results are interpretable; by analyzing the structure of the best algorithms we identify elements that help optimizing certain objectives, such as regularization terms for the critic loss.

Deep Reinforcement Learning (RL) has shown exciting progress in the past decade in many challenging domains including Reinforcement Learning (RL) algorithms are often Atari (Mnih et al., 2015), Dota (Berner et al., 2019), known for sample inefficiency and difficult Go (Silver et al., 2016). However, deep RL is also known generalization. Recently, Unsupervised Environment for its sample inefficiency and difficult generalization-- Design (UED) emerged as a new paradigm performing poorly on unseen tasks or failing altogether for zero-shot generalization by simultaneously with the slightest change (Cobbe et al., 2019; Azad et al., learning a task distribution and agent policies 2022; Zhang et al., 2018). While, Curriculum Learning on the generated tasks. This is a non-stationary (CL) algorithms have shown to improve RL sample efficiency process where the task distribution evolves along by adapting the training task distribution, i.e., the with agent policies; creating an instability over curriculum (Portelas et al., 2020; Narvekar et al., 2020), time. While past works demonstrated the potential recently a class of Unsupervised CL algorithms, called Unsupervised of such approaches, sampling effectively from Environment Design (UED) (Dennis et al., 2020; the task space remains an open challenge, bottlenecking Jiang et al., 2021a) has shown promising zero-shot generalization these approaches. To this end, we introduce by automatically generating the training tasks and CLUTR: a novel unsupervised curriculum adapting the curriculum simultaneously.

Microprocessor architects are increasingly resorting to domain-specific customization in the quest for high-performance and energy-efficiency. As the systems grow in complexity, fine-tuning architectural parameters across multiple sub-systems (e.g., datapath, memory blocks in different hierarchies, interconnects, compiler optimization, etc.) quickly results in a combinatorial explosion of design space. This makes domain-specific customization an extremely challenging task. Prior work explores using reinforcement learning (RL) and other optimization methods to automatically explore the large design space. However, these methods have traditionally relied on single-agent RL/ML formulations. It is unclear how scalable single-agent formulations are as we increase the complexity of the design space (e.g., full stack System-on-Chip design). Therefore, we propose an alternative formulation that leverages Multi-Agent RL (MARL) to tackle this problem. The key idea behind using MARL is an observation that parameters across different sub-systems are more or less independent, thus allowing a decentralized role assigned to each agent. We test this hypothesis by designing domain-specific DRAM memory controller for several workload traces. Our evaluation shows that the MARL formulation consistently outperforms single-agent RL baselines such as Proximal Policy Optimization and Soft Actor-Critic over different target objectives such as low power and latency. To this end, this work opens the pathway for new and promising research in MARL solutions for hardware architecture search.