Making language models bigger does not inherently make them better at following a user's intent. For example, large language models can generate outputs that are untruthful, toxic, or simply not helpful to the user. In other words, these models are not aligned with their users. In this paper, we show an avenue for aligning language models with user intent on a wide range of tasks by fine-tuning with human feedback. Starting with a set of labeler-written prompts and prompts submitted through a language model API, we collect a dataset of labeler demonstrations of the desired model behavior, which we use to fine-tune GPT-3 using supervised learning.

Deep reinforcement learning aims to learn deep neural network policies to solve large-scale decision-making problems. However, approximating policies using deep neural networks makes it difficult to interpret the learned decision-making process. To address this issue, prior works [10, 46, 74] proposed to use humanreadable programs as policies to increase the interpretability of the decision-making pipeline. Nevertheless, programmatic policies generated by these methods struggle to effectively solve long and repetitive RL tasks and cannot generalize to even longer horizons during testing. To solve these problems, we propose the Hierarchical Programmatic Option framework (HIPO), which aims to solve long and repetitive RL problems with human-readable programs as options (low-level policies). Specifically, we propose a method that retrieves a set of effective, diverse, and compatible programs as options. Then, we learn a high-level policy to effectively reuse these programmatic options to solve reoccurring subtasks. Our proposed framework outperforms programmatic RL and deep RL baselines on various tasks. Ablation studies justify the effectiveness of our proposed search algorithm for retrieving a set of programmatic options.

To fill this gap, Species Distribution Models (SDMs) predict species across space from spatially explicit features. Yet, they face the challenge of integrating the rich but heterogeneous data made available over the past decade, notably millions of opportunistic species observations and standardized surveys, as well as multimodal remote sensing data. In light of that, we have designed and developed a new European-scale dataset for SDMs at high spatial resolution (10-50m), including more than 10k species (i.e., most of the European flora). The dataset comprises 5M heterogeneous Presence-Only records and 90k exhaustive Presence-Absence survey records, all accompanied by diverse environmental rasters (e.g., elevation, human footprint, and soil) traditionally used in SDMs. In addition, it provides Sentinel-2 RGB and NIR satellite images with 10 m resolution, a 20-year time series of climatic variables, and satellite time series from the Landsat program. In addition to the data, we provide an openly accessible SDM benchmark (hosted on Kaggle), which has already attracted an active community and a set of strong baselines for single predictor/modality and multimodal approaches. All resources, e.g., the dataset, pre-trained models, and baseline methods (in the form of notebooks), are available on Kaggle, allowing one to start with our dataset literally with two mouse clicks.

Discovering causal relations from observational time series without making the stationary assumption is a significant challenge. In practice, this challenge is common in many areas, such as retail sales, transportation systems, and medical science. Here, we consider this problem for a class of non-stationary time series. The structural causal model (SCM) of this type of time series, called the semistationary time series, exhibits that a finite number of different causal mechanisms occur sequentially and periodically across time. This model holds considerable practical utility because it can represent periodicity, including common occurrences such as seasonality and diurnal variation. We propose a constraint-based, nonparametric algorithm for discovering causal relations in this setting.

Reinforcement learning (RL) traditionally trains agents using interaction data, which limits their capabilities to the scope of the training data. To create more knowledgeable agents, leveraging knowledge from large language models (LLMs) has shown a promising way. Despite various attempts to combine LLMs with RL, there is commonly a semantic gap between action signals and LLM tokens, which hinders their integration. This paper introduces a novel approach, KALM (Knowledgeable Agents from Language Model Rollouts), to learn knowledgeable agents by bridging this gap. KALM extracts knowledge from LLMs in the form of imaginary rollouts, which agents can learn through offline RL. To overcome the limitation that LLMs are inherently text-based and may be incompatible with numerical environmental data, KALM fine-tunes the LLM to perform bidirectional translation between textual goals and rollouts. This process enables the LLM to understand the environment better, facilitating the generation of meaningful rollouts. Experiments on robotic manipulation tasks demonstrate that KALM allows agents to rephrase complex goals and tackle novel tasks requiring new optimal behaviors. KALM achieves a 46% success rate in completing 1400 various novel goals, significantly outperforming the 26% success rate of baseline methods.

The parameters that we used in this work were β = 0.333, and N We include an ablation table for different values of β in Table S1. For the focal loss, we set α = 0.25 and γ = 2.0 which are the default values. We selected the best hyperparameters based on the performance on KITTI Lyft and used the same hyperparameters for the rest of the settings. We show results experiementing with different β parameters. We include additional evaluations on the Lyft dataset.

For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment -- ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (e.g., unlabeled LiDAR point clouds) collected from the end-users' environments (i.e.

Spectral methods are widely used to estimate eigenvectors of a low-rank signal matrix subject to noise. These methods use the leading eigenspace of an observed matrix to estimate this low-rank signal. Typically, the entrywise estimation error of these methods depends on the coherence of the low-rank signal matrix with respect to the standard basis. In this work, we present a novel method for eigenvector estimation that avoids this dependence on coherence. Assuming a rank-one signal matrix, under mild technical conditions, the entrywise estimation error of our method provably has no dependence on the coherence under Gaussian noise (i.e., in the spiked Wigner model), and achieves the optimal estimation rate up to logarithmic factors. Simulations demonstrate that our method performs well under non-Gaussian noise and that an extension of our method to the case of a rank-r signal matrix has little to no dependence on the coherence.