Acquiring physically plausible motor skills across diverse and unconventional morphologies-including humanoid robots, quadrupeds, and animals-is essential for advancing character simulation and robotics. Traditional methods, such as reinforcement learning (RL) are task- and body-specific, require extensive reward function engineering, and do not generalize well. Imitation learning offers an alternative but relies heavily on high-quality expert demonstrations, which are difficult to obtain for non-human morphologies. Video diffusion models, on the other hand, are capable of generating realistic videos of various morphologies, from humans to ants. Leveraging this capability, we propose a data-independent approach for skill acquisition that learns 3D motor skills from 2D-generated videos, with generalization capability to unconventional and non-human forms. Specifically, we guide the imitation learning process by leveraging vision transformers for video-based comparisons by calculating pair-wise distance between video embeddings. Along with video-encoding distance, we also use a computed similarity between segmented video frames as a guidance reward. We validate our method on locomotion tasks involving unique body configurations. In humanoid robot locomotion tasks, we demonstrate that 'No-data Imitation Learning' (NIL) outperforms baselines trained on 3D motion-capture data. Our results highlight the potential of leveraging generative video models for physically plausible skill learning with diverse morphologies, effectively replacing data collection with data generation for imitation learning.

Linking named entities occurring in text to their corresponding entity in a Knowledge Base (KB) is challenging, especially when dealing with historical texts. In this work, we introduce Musical Heritage named Entities Recognition, Classification and Linking (MHERCL), a novel benchmark consisting of manually annotated sentences extrapolated from historical periodicals of the music domain. MHERCL contains named entities under-represented or absent in the most famous KBs. We experiment with several State-of-the-Art models on the Entity Linking (EL) task and show that MHERCL is a challenging dataset for all of them. We propose a novel unsupervised EL model and a method to extend supervised entity linkers by using Knowledge Graphs (KGs) to tackle the main difficulties posed by historical documents. Our experiments reveal that relying on unsupervised techniques and improving models with logical constraints based on KGs and heuristics to predict NIL entities (entities not represented in the KB of reference) results in better EL performance on historical documents.

A central challenge towards developing robots that can relate human language to their perception and actions is the scarcity of natural language annotations in diverse robot datasets. Moreover, robot policies that follow natural language instructions are typically trained on either templated language or expensive human-labeled instructions, hindering their scalability. To this end, we introduce NILS: Natural language Instruction Labeling for Scalability. NILS automatically labels uncurated, long-horizon robot data at scale in a zero-shot manner without any human intervention. NILS combines pretrained vision-language foundation models in order to detect objects in a scene, detect object-centric changes, segment tasks from large datasets of unlabelled interaction data and ultimately label behavior datasets. Evaluations on BridgeV2, Fractal, and a kitchen play dataset show that NILS can autonomously annotate diverse robot demonstrations of unlabeled and unstructured datasets while alleviating several shortcomings of crowdsourced human annotations, such as low data quality and diversity. We use NILS to label over 115k trajectories obtained from over 430 hours of robot data. We open-source our auto-labeling code and generated annotations on our website: http://robottasklabeling.github.io.

Large Vision-Language Models (LVLMs) have demonstrated outstanding performance across various multimodal tasks. However, they suffer from a problem known as language prior, where responses are generated based solely on textual patterns while disregarding image information. Addressing the issue of language prior is crucial, as it can lead to undesirable biases or hallucinations when dealing with images that are out of training distribution. Despite its importance, current methods for accurately measuring language priors in LVLMs are poorly studied. Although existing benchmarks based on counterfactual or out-of-distribution images can partially be used to measure language priors, they fail to disentangle language priors from other confounding factors. To this end, we propose a new benchmark called VLind-Bench, which is the first benchmark specifically designed to measure the language priors, or blindness, of LVLMs. It not only includes tests on counterfactual images to assess language priors but also involves a series of tests to evaluate more basic capabilities such as commonsense knowledge, visual perception, and commonsense biases. For each instance in our benchmark, we ensure that all these basic tests are passed before evaluating the language priors, thereby minimizing the influence of other factors on the assessment. The evaluation and analysis of recent LVLMs in our benchmark reveal that almost all models exhibit a significant reliance on language priors, presenting a strong challenge in the field.

Event linking connects event mentions in text with relevant nodes in a knowledge base (KB). Prior research in event linking has mainly borrowed methods from entity linking, overlooking the distinct features of events. Compared to the extensively explored entity linking task, events have more complex structures and can be more effectively distinguished by examining their associated arguments. Moreover, the information-rich nature of events leads to the scarcity of event KBs. This emphasizes the need for event linking models to identify and classify event mentions not in the KB as ``out-of-KB,'' an area that has received limited attention. In this work, we tackle these challenges by introducing an argument-aware approach. First, we improve event linking models by augmenting input text with tagged event argument information, facilitating the recognition of key information about event mentions. Subsequently, to help the model handle ``out-of-KB'' scenarios, we synthesize out-of-KB training examples from in-KB instances through controlled manipulation of event arguments. Our experiment across two test datasets showed significant enhancements in both in-KB and out-of-KB scenarios, with a notable 22% improvement in out-of-KB evaluations.

Comprehending an article requires understanding its constituent events. However, the context where an event is mentioned often lacks the details of this event. A question arises: how can the reader obtain more knowledge about this particular event in addition to what is provided by the local context in the article? This work defines Event Linking, a new natural language understanding task at the event level. Event linking tries to link an event mention appearing in an article to the most appropriate Wikipedia page. This page is expected to provide rich knowledge about what the event mention refers to. To standardize the research in this new direction, we contribute in four-fold. First, this is the first work in the community that formally defines Event Linking task. Second, we collect a dataset for this new task. Specifically, we automatically gather training set from Wikipedia, and then create two evaluation sets: one from the Wikipedia domain, reporting the in-domain performance, and a second from the real-world news domain, to evaluate out-of-domain performance. Third, we retrain and evaluate two state-of-the-art (SOTA) entity linking models, showing the challenges of event linking, and we propose an event-specific linking system EVELINK to set a competitive result for the new task. Fourth, we conduct a detailed and insightful analysis to help understand the task and the limitation of the current model. Overall, as our analysis shows, Event Linking is a considerably challenging and essential task requiring more effort from the community. Data and code are available here: https://github.com/CogComp/event-linking.

The principle of compositionality, which enables natural language to represent complex concepts via a structured combination of simpler ones, allows us to convey an open-ended set of messages using a limited vocabulary. If compositionality is indeed a natural property of language, we may expect it to appear in communication protocols that are created by neural agents in language games. In this paper, we propose an effective neural iterated learning (NIL) algorithm that, when applied to interacting neural agents, facilitates the emergence of a more structured type of language. Indeed, these languages provide learning speed advantages to neural agents during training, which can be incrementally amplified via NIL. We provide a probabilistic model of NIL and an explanation of why the advantage of compositional language exist. Our experiments confirm our analysis, and also demonstrate that the emerged languages largely improve the generalizing power of the neural agent communication.

We present a Spades bidding algorithm that is superior to recreational human players and to publicly available bots. Like in Bridge, the game of Spades is composed of two independent phases, \textit{bidding} and \textit{playing}. This paper focuses on the bidding algorithm, since this phase holds a precise challenge: based on the input, choose the bid that maximizes the agent's winning probability. Our \emph{Bidding-in-Spades} (BIS) algorithm heuristically determines the bidding strategy by comparing the expected utility of each possible bid. A major challenge is how to estimate these expected utilities. To this end, we propose a set of domain-specific heuristics, and then correct them via machine learning using data from real-world players. The \BIS algorithm we present can be attached to any playing algorithm. It beats rule-based bidding bots when all use the same playing component. When combined with a rule-based playing algorithm, it is superior to the average recreational human.

Editor's Note: AI workers have claimed for some time A partial evaluator is an interpreter that, with only partial information about a program's inputs, produces a specialized version of the program which exploits the partial information. A similar example is described in more detail in Kahn (1982b). Programming methodology in AI shares much with general programming methodology but differs in significant ways. An AI researcher does not typically understand the problem being programmed very well. An essential aspect of a very common style of doing AI research is to write programs in order to understand something better.

An important issue in achieving acceptance of computer systems used by the nonprogramming community is the ability to communicate with these systems in natural language. Often, a great deal of time in the design of any such system is devoted to the natural language front end. An obvious way to simplify this task is to provide a portable natural language front-end tool or facility that is sophisticated enough to allow for a reasonable variety of input; allows modification; and, yet, is easy to use. This paper describes such a tool that is based on augmented transition networks (ATNs). It allows for user input to be in sentence or nonsentence form or both, provides a detailed parse tree that the user can access, and also provides the facility to generate responses and save information.