Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for diffusion policy. However, their generalization is typically limited to the same category with similar appearances. Our key insight is that leveraging affordances--manipulation priors that define "where" and "how" an agent interacts with an object--can substantially enhance generalization to entirely unseen object instances and categories. We introduce the Diffusion Policy with transferable Affordance (AffordDP), designed for generalizable manipulation across novel categories. AffordDP models affordances through 3D contact points and post-contact trajectories, capturing the essential static and dynamic information for complex tasks. The transferable affordance from in-domain data to unseen objects is achieved by estimating a 6D transformation matrix using foundational vision models and point cloud registration techniques. More importantly, we incorporate affordance guidance during diffusion sampling that can refine action sequence generation. This guidance directs the generated action to gradually move towards the desired manipulation for unseen objects while keeping the generated action within the manifold of action space. Experimental results from both simulated and real-world environments demonstrate that AffordDP consistently outperforms previous diffusion-based methods, successfully generalizing to unseen instances and categories where others fail.

English verbs have multiple forms. For instance, talk may also appear as talks, talked or talking, depending on the context. The NLP task of lemmatization seeks to map these diverse forms back to a canonical one, known as the lemma. We present a simple joint neural model for lemmatization and morphological tagging that achieves state-of-the-art results on 20 languages from the Universal Dependencies corpora. Our paper describes the model in addition to training and decoding procedures. Error analysis indicates that joint morphological tagging and lemmatization is especially Figure 1: Our structured neural model shown as a hybrid helpful in low-resource lemmatization and languages (directed-undirected) graphical model (Koller and that display a larger degree of morphological Friedman, 2009).

Character-level string-to-string transduction is an important component of various NLP tasks. The goal is to map an input string to an output string, where the strings may be of different lengths and have characters taken from different alphabets. Recent approaches have used sequence-to-sequence models with an attention mechanism to learn which parts of the input string the model should focus on during the generation of the output string. Both soft attention and hard monotonic attention have been used, but hard non-monotonic attention has only been used in other sequence modeling tasks such as image captioning (Xu et al., 2015), and has required a stochastic approximation to compute the gradient. In this work, we introduce an exact, polynomial-time algorithm for marginalizing over the exponential number of non-monotonic alignments between two strings, showing that hard attention models can be viewed as neural reparameterizations of the classical IBM Model 1. We compare soft and hard non-monotonic attention experimentally and find that the exact algorithm significantly improves performance over the stochastic approximation and outperforms soft attention. Code is available at https://github. com/shijie-wu/neural-transducer.

Many common character-level, string-to string transduction tasks, e.g., grapheme-tophoneme conversion and morphological inflection, consist almost exclusively of monotonic transductions. However, neural sequence-to sequence models that use non-monotonic soft attention often outperform popular monotonic models. In this work, we ask the following question: Is monotonicity really a helpful inductive bias for these tasks? We develop a hard attention sequence-to-sequence model that enforces strict monotonicity and learns a latent alignment jointly while learning to transduce. With the help of dynamic programming, we are able to compute the exact marginalization over all monotonic alignments. Our models achieve state-of-the-art performance on morphological inflection. Furthermore, we find strong performance on two other character-level transduction tasks. Code is available at https://github.com/shijie-wu/neural-transducer.

The use of NLP in the realm of financial technology is broad and complex, with applications ranging from sentiment analysis and named entity recognition to question answering. Large Language Models (LLMs) have been shown to be effective on a variety of tasks; however, no LLM specialized for the financial domain has been reported in literature. In this work, we present BloombergGPT, a 50 billion parameter language model that is trained on a wide range of financial data. We construct a 363 billion token dataset based on Bloomberg's extensive data sources, perhaps the largest domain-specific dataset yet, augmented with 345 billion tokens from general purpose datasets. We validate BloombergGPT on standard LLM benchmarks, open financial benchmarks, and a suite of internal benchmarks that most accurately reflect our intended usage. Our mixed dataset training leads to a model that outperforms existing models on financial tasks by significant margins without sacrificing performance on general LLM benchmarks. Additionally, we explain our modeling choices, training process, and evaluation methodology. We release Training Chronicles (Appendix C) detailing our experience in training BloombergGPT.

Autoregressive language models are trained by minimizing the cross-entropy of the model distribution Q relative to the data distribution P -- that is, minimizing the forward cross-entropy, which is equivalent to maximum likelihood estimation (MLE). We have observed that models trained in this way may "over-generalize", in the sense that they produce non-human-like text. Moreover, we believe that reverse cross-entropy, i.e., the cross-entropy of P relative to Q, is a better reflection of how a human would evaluate text generated by a model. Hence, we propose learning with MixCE, an objective that mixes the forward and reverse cross-entropies. We evaluate models trained with this objective on synthetic data settings (where P is known) and real data, and show that the resulting models yield better generated text without complex decoding strategies. Our code and models are publicly available at https://github.com/bloomberg/mixce-acl2023

Real-life multilingual systems should be able to efficiently incorporate new languages as data distributions fed to the system evolve and shift over time. To do this, systems need to handle the issue of catastrophic forgetting, where the model performance drops for languages or tasks seen further in its past. In this paper, we study catastrophic forgetting, as well as methods to minimize this, in a massively multilingual continual learning framework involving up to 51 languages and covering both classification and sequence labeling tasks. We present LR ADJUST, a learning rate scheduling method that is simple, yet effective in preserving new information without strongly overwriting past knowledge. Furthermore, we show that this method is effective across multiple continual learning approaches. Finally, we provide further insights into the dynamics of catastrophic forgetting in this massively multilingual setup.