Large language models have shown an impressive societal impact owing to their excellent understanding and logical reasoning skills. However, such strong ability relies on a huge amount of computing resources, which makes it difficult to deploy LLMs on computing resource-constrained platforms. Currently, LLMs process each token equivalently, but we argue that not every word is equally important. Some words should not be allocated excessive computing resources, particularly for dispensable terms in simple questions. In this paper, we propose a novel dynamic inference paradigm for LLMs, namely D-LLMs, which adaptively allocate computing resources in token processing. We design a dynamic decision module for each transformer layer that decides whether a network unit should be executed or skipped. Moreover, we tackle the issue of adapting D-LLMs to real-world applications, specifically concerning the missing KV -cache when layers are skipped. To overcome this, we propose a simple yet effective eviction policy to exclude the skipped layers from subsequent attention calculations. The eviction policy not only enables D-LLMs to be compatible with prevalent applications but also reduces considerable storage resources.

Left: A human partner is confined to a wheelchair and struggles to move past an obstacle.

This paper presents the first step in a research project situated within the field of musical agents. The objective is to achieve, through training, the tuning of the desired musical relationship between a live musical input and a real-time generated musical output, through the curation of a database of separated tracks. We propose an architecture integrating a symbolic decision module capable of learning and exploiting musical relationships from such musical corpus. We detail an offline implementation of this architecture employing Transformers as the decision module, associated with a perception module based on Wav2Vec 2.0, and concatenative synthesis as audio renderer. We present a quantitative evaluation of the decision module's ability to reproduce learned relationships extracted during training. We demonstrate that our decision module can predict a coherent track B when conditioned by its corresponding ''guide'' track A, based on a corpus of paired tracks (A, B).

A deep visual tracker is typically based on either object detection or template matching while each of them is only suitable for a particular group of scenes. It is straightforward to consider fusing them together to pursue more reliable tracking. However, this is not wise as they follow different tracking principles.

Robot navigation in complex environments necessitates controllers that are adaptive and safe. Traditional controllers like Regulated Pure Pursuit, Dynamic Window Approach, and Model-Predictive Path Integral, while reliable, struggle to adapt to dynamic conditions. Reinforcement Learning offers adaptability but lacks formal safety guarantees. To address this, we propose a path tracking controller leveraging the Simplex architecture. It combines a Reinforcement Learning controller for adaptiveness and performance with a high-assurance controller providing safety and stability. Our contribution is twofold. We firstly discuss general stability and safety considerations for designing controllers using the Simplex architecture. Secondly, we present a Simplex-based path tracking controller. Our simulation results, supported by preliminary in-field tests, demonstrate the controller's effectiveness in maintaining safety while achieving comparable performance to state-of-the-art methods.

Multi-modal Large Language Models (MLLMs) have achieved remarkable success by integrating visual and textual modalities. However, they incur significant computational overhead due to the large number of vision tokens processed, limiting their practicality in resource-constrained environments. We introduce Language-Guided Vision Token Pruning (LVPruning) for MLLMs, an effective yet simple method that significantly reduces the computational burden while preserving model performance. LVPruning employs cross-attention modules to compute the importance of vision tokens based on their interaction with language tokens, determining which to prune. Importantly, LVPruning can be integrated without modifying the original MLLM parameters, which makes LVPruning simple to apply or remove. Our experiments show that LVPruning can effectively reduce up to 90% of vision tokens by the middle layer of LLaVA-1.5, resulting in a 62.1% decrease in inference Tera Floating-Point Operations Per Second (TFLOPs), with an average performance loss of just 0.45% across nine multi-modal benchmarks.

We introduce Constrained Human-AI Cooperation (CHAIC), an inclusive embodied social intelligence challenge designed to test social perception and cooperation in embodied agents. In CHAIC, the goal is for an embodied agent equipped with egocentric observations to assist a human who may be operating under physical constraints -- e.g., unable to reach high places or confined to a wheelchair -- in performing common household or outdoor tasks as efficiently as possible. To achieve this, a successful helper must: (1) infer the human's intents and constraints by following the human and observing their behaviors (social perception), and (2) make a cooperative plan tailored to the human partner to solve the task as quickly as possible, working together as a team (cooperative planning). To benchmark this challenge, we create four new agents with real physical constraints and eight long-horizon tasks featuring both indoor and outdoor scenes with various constraints, emergency events, and potential risks. We benchmark planning- and learning-based baselines on the challenge and introduce a new method that leverages large language models and behavior modeling. Empirical evaluations demonstrate the effectiveness of our benchmark in enabling systematic assessment of key aspects of machine social intelligence. Our benchmark and code are publicly available at https://github.com/UMass-Foundation-Model/CHAIC.

Detecting cognitive biases in large language models (LLMs) is a fascinating task that aims to probe the existing cognitive biases within these models. Current methods for detecting cognitive biases in language models generally suffer from incomplete detection capabilities and a restricted range of detectable bias types. To address this issue, we introduced the 'MindScope' dataset, which distinctively integrates static and dynamic elements. The static component comprises 5,170 open-ended questions spanning 72 cognitive bias categories. The dynamic component leverages a rule-based, multi-agent communication framework to facilitate the generation of multi-round dialogues. This framework is flexible and readily adaptable for various psychological experiments involving LLMs. In addition, we introduce a multi-agent detection method applicable to a wide range of detection tasks, which integrates Retrieval-Augmented Generation (RAG), competitive debate, and a reinforcement learning-based decision module. Demonstrating substantial effectiveness, this method has shown to improve detection accuracy by as much as 35.10% compared to GPT-4. Codes and appendix are available at https://github.com/2279072142/MindScope.