To facilitate human--robot interaction (HRI) tasks in real-world scenarios, service robots must adapt to dynamic environments and understand the required tasks while effectively communicating with humans. To accomplish HRI in practice, we propose a novel indoor dynamic map, task understanding system, and response generation system. The indoor dynamic map optimizes robot behavior by managing an occupancy grid map and dynamic information, such as furniture and humans, in separate layers. The task understanding system targets tasks that require multiple actions, such as serving ordered items. Task representations that predefine the flow of necessary actions are applied to achieve highly accurate understanding. The response generation system is executed in parallel with task understanding to facilitate smooth HRI by informing humans of the subsequent actions of the robot. In this study, we focused on waiter duties in a restaurant setting as a representative application of HRI in a dynamic environment. We developed an HRI system that could perform tasks such as serving food and cleaning up while communicating with customers. In experiments conducted in a simulated restaurant environment, the proposed HRI system successfully communicated with customers and served ordered food with 90\% accuracy. In a questionnaire administered after the experiment, the HRI system of the robot received 4.2 points out of 5. These outcomes indicated the effectiveness of the proposed method and HRI system in executing waiter tasks in real-world environments.

Recently, generative pre-trained models have made significant strides, particularly highlighted by the release of ChatGPT and GPT-4, which exhibit superior cross-domain capabilities. However, these models still face challenges on constrained writing tasks like poem generation under open-domain titles. In response to this challenge, we introduce Block Inverse Prompting (BIPro) constrained generation framework. BIPro leverages two block inverse prompting methods, revise and rewrite, that mimic the process of human text writing using block generative models. It significantly improves the zero-shot generation quality on the formidable constrained generation task of open-domain traditional-form Chinese poem generation. Based on a less powerful block generative model GLM-10B-Chinese, poems composed via BIPro without priming or additional training outperform both most advanced direct generative systems like GPT-4 or GLM-4 and best domain-specific systems such as Yusheng, Shisanbai, or Baidu Poetry Helper in human evaluation by proficient poets. Finally, BIPro considerably narrows the gap between AI-generated works and short-listed human literary arts in another human evaluation, unveiling the promising potential of block generative models in improving the quality of constrained generation.

This paper proposes a medical literature summary generation method based on the BERT model to address the challenges brought by the current explosion of medical information. By fine-tuning and optimizing the BERT model, we develop an efficient summary generation system that can quickly extract key information from medical literature and generate coherent, accurate summaries. In the experiment, we compared various models, including Seq-Seq, Attention, Transformer, and BERT, and demonstrated that the improved BERT model offers significant advantages in the Rouge and Recall metrics. Furthermore, the results of this study highlight the potential of knowledge distillation techniques to further enhance model performance. The system has demonstrated strong versatility and efficiency in practical applications, offering a reliable tool for the rapid screening and analysis of medical literature.

Code generation has been greatly enhanced by the profound advancements in Large Language Models (LLMs) recently. Nevertheless, such LLM-based code generation approaches still struggle to generate error-free code in a few tries when faced with complex problems. To address this, the prevailing strategy is to sample a huge number of candidate programs, with the hope of any one in them could work. However, users of code generation systems usually expect to find a correct program by reviewing or testing only a small number of code candidates. Otherwise, the system would be unhelpful. In this paper, we propose Top Pass, a code ranking approach that identifies potential correct solutions from a large number of candidates. Top Pass directly optimizes the pass@k loss function, enhancing the quality at the top of the candidate list. This enables the user to find the correct solution within as few tries as possible. Experimental results on four benchmarks indicate that our Top Pass method enhances the usability of code generation models by producing better ranking results, particularly achieving a 32.9\% relative improvement in pass@1 on CodeContests when compared to the state-of-the-art ranking method.

This paper introduces CovScore, an automatic reference-less methodology for evaluating thematic title sets, extracted from a corpus of documents. While such extraction methods are widely used, evaluating their effectiveness remains an open question. Moreover, some existing practices heavily rely on slow and laborious human annotation procedures. Inspired by recently introduced LLM-based judge methods, we propose a novel methodology that decomposes quality into five main metrics along different aspects of evaluation. This framing simplifies and expedites the manual evaluation process and enables automatic and independent LLM-based evaluation. As a test case, we apply our approach to a corpus of Holocaust survivor testimonies, motivated both by its relevance to title set extraction and by the moral significance of this pursuit. We validate the methodology by experimenting with naturalistic and synthetic title set generation systems and compare their performance with the methodology.

Text-to-image generation systems have emerged as revolutionary tools in the realm of artistic creation, offering unprecedented ease in transforming textual prompts into visual art. However, the efficacy of these systems is intricately linked to the quality of user-provided prompts, which often poses a challenge to users unfamiliar with prompt crafting. This paper addresses this challenge by leveraging user reformulation data from interaction logs to develop an automatic prompt reformulation model. Our in-depth analysis of these logs reveals that user prompt reformulation is heavily dependent on the individual user's capability, resulting in significant variance in the quality of reformulation pairs. To effectively use this data for training, we introduce the Capability-aware Prompt Reformulation (CAPR) framework. CAPR innovatively integrates user capability into the reformulation process through two key components: the Conditional Reformulation Model (CRM) and Configurable Capability Features (CCF). CRM reformulates prompts according to a specified user capability, as represented by CCF. The CCF, in turn, offers the flexibility to tune and guide the CRM's behavior. This enables CAPR to effectively learn diverse reformulation strategies across various user capacities and to simulate high-capability user reformulation during inference. Extensive experiments on standard text-to-image generation benchmarks showcase CAPR's superior performance over existing baselines and its remarkable robustness on unseen systems. Furthermore, comprehensive analyses validate the effectiveness of different components. CAPR can facilitate user-friendly interaction with text-to-image systems and make advanced artistic creation more achievable for a broader range of users.

We consider the end-to-end abstract-to-title generation problem, exploring seven recent transformer based models (including ChatGPT) fine-tuned on more than 30k abstract-title pairs from NLP and machine learning (ML) venues. As an extension, we also consider the harder problem of generating humorous paper titles. For the latter, we compile the first large-scale humor annotated dataset for scientific papers in the NLP/ML domains, comprising almost ~2.6k titles. We evaluate all models using human and automatic metrics. Our human evaluation suggests that our best end-to-end system performs similarly to human authors (but arguably slightly worse). Generating funny titles is more difficult, however, and our automatic systems clearly underperform relative to humans and often learn dataset artefacts of humor. Finally, ChatGPT, without any fine-tuning, performs on the level of our best fine-tuned system.

Existing customization methods require access to multiple reference examples to align pre-trained diffusion probabilistic models (DPMs) with user-provided concepts. This paper aims to address the challenge of DPM customization when the only available supervision is a differentiable metric defined on the generated contents. Since the sampling procedure of DPMs involves recursive calls to the denoising UNet, na\"ive gradient backpropagation requires storing the intermediate states of all iterations, resulting in extremely high memory consumption. To overcome this issue, we propose a novel method AdjointDPM, which first generates new samples from diffusion models by solving the corresponding probability-flow ODEs. It then uses the adjoint sensitivity method to backpropagate the gradients of the loss to the models' parameters (including conditioning signals, network weights, and initial noises) by solving another augmented ODE. To reduce numerical errors in both the forward generation and gradient backpropagation processes, we further reparameterize the probability-flow ODE and augmented ODE as simple non-stiff ODEs using exponential integration. Finally, we demonstrate the effectiveness of AdjointDPM on three interesting tasks: converting visual effects into identification text embeddings, finetuning DPMs for specific types of stylization, and optimizing initial noise to generate adversarial samples for security auditing.

In this work, we provide an efficient extraction attack on par with the recent attack, with several order of magnitudes less network evaluations. In the process, we expose a new phenomena, which we dub template verbatims, wherein a diffusion model will regurgitate a training sample largely in tact. Template verbatims are harder to detect as they require retrieval and masking to correctly label. Furthermore, they are still generated by newer systems, even those which de-duplicate their training set, and we give insight into why they still appear during generation. We extract training images from several state of the art systems, including Stable Diffusion 2.0, Deep Image Floyd, and finally Midjourney v4.

Recent developments in large language models (LLM) and generative AI have unleashed the astonishing capabilities of text-to-image generation systems to synthesize high-quality images that are faithful to a given reference text, known as a "prompt". These systems have immediately received lots of attention from researchers, creators, and common users. Despite the plenty of efforts to improve the generative models, there is limited work on understanding the information needs of the users of these systems at scale. We conduct the first comprehensive analysis of large-scale prompt logs collected from multiple text-to-image generation systems. Our work is analogous to analyzing the query logs of Web search engines, a line of work that has made critical contributions to the glory of the Web search industry and research. Compared with Web search queries, text-to-image prompts are significantly longer, often organized into special structures that consist of the subject, form, and intent of the generation tasks and present unique categories of information needs. Users make more edits within creation sessions, which present remarkable exploratory patterns. There is also a considerable gap between the user-input prompts and the captions of the images included in the open training data of the generative models. Our findings provide concrete implications on how to improve text-to-image generation systems for creation purposes.