API, looking for sequences that match the candidate text within a certain threshold.

The misuse of large language models (LLMs), such as academic plagiarism, has driven the development of detectors to identify LLM-generated texts. To bypass these detectors, paraphrase attacks have emerged to purposely rewrite these texts to evade detection. Despite the success, existing methods require substantial data and computational budgets to train a specialized paraphraser, and their attack efficacy greatly reduces when faced with advanced detection algorithms. To address this, we propose \textbf{Co}ntrastive \textbf{P}araphrase \textbf{A}ttack (CoPA), a training-free method that effectively deceives text detectors using off-the-shelf LLMs. The first step is to carefully craft instructions that encourage LLMs to produce more human-like texts. Nonetheless, we observe that the inherent statistical biases of LLMs can still result in some generated texts carrying certain machine-like attributes that can be captured by detectors. To overcome this, CoPA constructs an auxiliary machine-like word distribution as a contrast to the human-like distribution generated by the LLM. By subtracting the machine-like patterns from the human-like distribution during the decoding process, CoPA is able to produce sentences that are less discernible by text detectors. Our theoretical analysis suggests the superiority of the proposed attack. Extensive experiments validate the effectiveness of CoPA in fooling text detectors across various scenarios.

Large Language Models still encounter substantial challenges in reasoning tasks, especially for smaller models, which many users may be restricted to due to resource constraints (e.g. GPU memory restrictions). Inference-time methods to boost LLM performance, such as prompting methods to invoke certain reasoning pathways in responses, have been shown effective in past works, though they largely rely on sequential queries. The ensemble method, which consists of multiple constituent models running in parallel, is a promising approach to achieving better inference-time performance, especially given recent developments that enabled significant speed-ups in LLM batch inference. In this work, we propose a novel, training-free LLM ensemble framework where a single LLM model is fed an optimized, diverse set of prompts in parallel, effectively producing an ensemble at inference time to achieve performance improvement in reasoning tasks. We empirically demonstrate that our method leads to significant gains on math reasoning tasks, e.g., on MATH, where our ensemble consisting of a few small models (e.g., three Qwen2-MATH-1.5B-it models) can outperform a larger model (e.g., Qwen2-MATH-7B-it).

Amidst rising concerns about the internet being proliferated with content generated from language models (LMs), watermarking is seen as a principled way to certify whether text was generated from a model. Many recent watermarking techniques slightly modify the output probabilities of LMs to embed a signal in the generated output that can later be detected. Since early proposals for text watermarking, questions about their robustness to paraphrasing have been prominently discussed. Lately, some techniques are deliberately designed and claimed to be robust to paraphrasing. However, such watermarking schemes do not adequately account for the ease with which they can be reverse-engineered. We show that with access to only a limited number of generations from a black-box watermarked model, we can drastically increase the effectiveness of paraphrasing attacks to evade watermark detection, thereby rendering the watermark ineffective.

Natural Language Generation has been rapidly developing with the advent of large language models (LLMs). While their usage has sparked significant attention from the general public, it is important for readers to be aware when a piece of text is LLM-generated. This has brought about the need for building models that enable automated LLM-generated text detection, with the aim of mitigating potential negative outcomes of such content. Existing LLM-generated detectors show competitive performances in telling apart LLM-generated and human-written text, but this performance is likely to deteriorate when paraphrased texts are considered. In this study, we devise a new data collection strategy to collect Human & LLM Paraphrase Collection (HLPC), a first-of-its-kind dataset that incorporates human-written texts and paraphrases, as well as LLM-generated texts and paraphrases. With the aim of understanding the effects of human-written paraphrases on the performance of state-of-the-art LLM-generated text detectors OpenAI RoBERTa and watermark detectors, we perform classification experiments that incorporate human-written paraphrases, watermarked and non-watermarked LLM-generated documents from GPT and OPT, and LLM-generated paraphrases from DIPPER and BART. The results show that the inclusion of human-written paraphrases has a significant impact of LLM-generated detector performance, promoting TPR@1%FPR with a possible trade-off of AUROC and accuracy.

Learning control policies to perform complex robotics tasks from human preference data presents significant challenges. On the one hand, the complexity of such tasks typically requires learning policies to perform a variety of subtasks, then combining them to achieve the overall goal. At the same time, comprehensive, well-engineered reward functions are typically unavailable in such problems, while limited human preference data often is; making efficient use of such data to guide learning is therefore essential. Methods for learning to perform complex robotics tasks from human preference data must overcome both these challenges simultaneously. In this work, we introduce DIPPER: Direct Preference Optimization to Accelerate Primitive-Enabled Hierarchical Reinforcement Learning, an efficient hierarchical approach that leverages direct preference optimization to learn a higher-level policy and reinforcement learning to learn a lower-level policy. DIPPER enjoys improved computational efficiency due to its use of direct preference optimization instead of standard preference-based approaches such as reinforcement learning from human feedback, while it also mitigates the well-known hierarchical reinforcement learning issues of non-stationarity and infeasible subgoal generation due to our use of primitive-informed regularization inspired by a novel bi-level optimization formulation of the hierarchical reinforcement learning problem. To validate our approach, we perform extensive experimental analysis on a variety of challenging robotics tasks, demonstrating that DIPPER outperforms hierarchical and non-hierarchical baselines, while ameliorating the non-stationarity and infeasible subgoal generation issues of hierarchical reinforcement learning.

We present DiPPeST, a novel image and goal conditioned diffusion-based trajectory generator for quadrupedal robot path planning. DiPPeST is a zero-shot adaptation of our previously introduced diffusion-based 2D global trajectory generator (DiPPeR). The introduced system incorporates a novel strategy for local real-time path refinements, that is reactive to camera input, without requiring any further training, image processing, or environment interpretation techniques. DiPPeST achieves 92% success rate in obstacle avoidance for nominal environments and an average of 88% success rate when tested in environments that are up to 3.5 times more complex in pixel variation than DiPPeR. A visual-servoing framework is developed to allow for real-world execution, tested on the quadruped robot, achieving 80% success rate in different environments and showcasing improved behavior than complex state-of-the-art local planners, in narrow environments.

In this work, we present DiPPeR, a novel and fast 2D path planning framework for quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a scalable dataset of map images and corresponding end-to-end trajectories, an image-conditioned diffusion planner for mobile robots, and a training/inference pipeline employing CNNs. We validate our approach in several mazes, as well as in real-world deployment scenarios on Boston Dynamic's Spot and Unitree's Go1 robots. DiPPeR performs on average 70 times faster for trajectory generation against both search based and data driven path planning algorithms with an average of 80% consistency in producing feasible paths of various length in maps of variable size, and obstacle structure.