In Agile/Scrum software development, the idea of retrospective meetings (retros) is one of the core elements of the project process. In this paper, we present our work in progress focusing on two aspects: analysis of potential usage of generative AI for information interaction within retrospective meetings, and visualisation of retros' information to software development teams. We also present our prototype tool RetroAI++, focusing on retros-related functionalities.

The training data for many Large Language Models (LLMs) is contaminated with test data. This means that public benchmarks used to assess LLMs are compromised, suggesting a performance gap between benchmark scores and actual capabilities. Ideally, a private holdout set could be used to accurately verify scores. Unfortunately, such datasets do not exist for most benchmarks, and post-hoc construction of sufficiently similar datasets is non-trivial. To address these issues, we introduce a systematic methodology for (i) retrospectively constructing a holdout dataset for a target dataset, (ii) demonstrating the statistical indistinguishability of this retro-holdout dataset, and (iii) comparing LLMs on the two datasets to quantify the performance gap due to the dataset's public availability. Applying these methods to TruthfulQA, we construct and release Retro-Misconceptions, on which we evaluate twenty LLMs and find that some have inflated scores by as much as 16 percentage points. Our results demonstrate that public benchmark scores do not always accurately assess model properties, and underscore the importance of improved data practices in the field.

The use of large language models (LLMs) is becoming increasingly widespread among software developers. However, privacy and computational requirements are problematic with commercial solutions and the use of LLMs. In this work, we focus on using LLMs with around 160 million parameters that are suitable for local execution and augmentation with retrieval from local projects. We train two models based on the transformer architecture, the generative model GPT-2 and the retrieval-adapted RETRO model, on open-source Python files, and empirically evaluate and compare them, confirming the benefits of vector embedding based retrieval. Further, we improve our models' performance with In-context retrieval-augmented generation, which retrieves code snippets based on the Jaccard similarity of tokens. We evaluate In-context retrieval-augmented generation on larger models and conclude that, despite its simplicity, the approach is more suitable than using the RETRO architecture. We highlight the key role of proper tokenization in achieving the full potential of LLMs in code completion.

Parameter-Efficient Fine-Tuning (PEFT) and Retrieval-Augmented Generation (RAG) have become popular methods for adapting large language models while minimizing compute requirements. In this paper, we apply PEFT methods (P-tuning, Adapters, and LoRA) to a modified Retrieval-Enhanced Transformer (RETRO) and a baseline GPT model across several sizes, ranging from 823 million to 48 billion parameters. We show that RETRO models outperform GPT models in zero-shot settings due to their unique pre-training process but GPT models have higher performance potential with PEFT. Additionally, our study indicates that 8B parameter models strike an optimal balance between cost and performance and P-tuning lags behind other PEFT techniques. We further provide a comparative analysis of between applying PEFT to an Instruction-tuned RETRO model and base RETRO model. This work presents the first comprehensive comparison of various PEFT methods integrated with RAG, applied to both GPT and RETRO models, highlighting their relative performance.

Self-supervised learning (SSL) is gaining attention for its ability to learn effective representations with large amounts of unlabeled data. Lightweight models can be distilled from larger self-supervised pre-trained models using contrastive and consistency constraints. Still, the different sizes of the projection heads make it challenging for students to mimic the teacher's embedding accurately. We propose \textsc{Retro}, which reuses the teacher's projection head for students, and our experimental results demonstrate significant improvements over the state-of-the-art on all lightweight models. For instance, when training EfficientNet-B0 using ResNet-50/101/152 as teachers, our approach improves the linear result on ImageNet to $66.9\%$, $69.3\%$, and $69.8\%$, respectively, with significantly fewer parameters.

Offline meta reinforcement learning (OMRL) has emerged as a promising approach for interaction avoidance and strong generalization performance by leveraging pre-collected data and meta-learning techniques. Previous context-based approaches predominantly rely on the intuition that maximizing the mutual information between the task and the task representation ($I(Z;M)$) can lead to performance improvements. Despite achieving attractive results, the theoretical justification of performance improvement for such intuition has been lacking. Motivated by the return discrepancy scheme in the model-based RL field, we find that maximizing $I(Z;M)$ can be interpreted as consistently raising the lower bound of the expected return for a given policy conditioning on the optimal task representation. However, this optimization process ignores the task representation shift between two consecutive updates, which may lead to performance improvement collapse. To address this problem, we turn to use the framework of performance difference bound to consider the impacts of task representation shift explicitly. We demonstrate that by reining the task representation shift, it is possible to achieve monotonic performance improvements, thereby showcasing the advantage against previous approaches. To make it practical, we design an easy yet highly effective algorithm RETRO (\underline{RE}ining \underline{T}ask \underline{R}epresentation shift in context-based \underline{O}ffline meta reinforcement learning) with only adding one line of code compared to the backbone. Empirical results validate its state-of-the-art (SOTA) asymptotic performance, training stability and training-time consumption on MuJoCo and MetaWorld benchmarks.

Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly addresses robotic motion planning with predefined objectives, emerging problems in robotic trajectory optimization frequently involve dynamically evolving objectives and stochastic motion dynamics. However, effectively addressing such reactive trajectory optimization challenges for robot manipulators proves difficult due to inefficient, high-dimensional trajectory representations and a lack of consideration for time optimization. In response, we introduce a novel trajectory optimization framework called RETRO. RETRO employs adaptive optimization techniques that span both spatial and temporal dimensions. As a result, it achieves a remarkable computing complexity of $O(T^{2.4}) + O(Tn^{2})$, a significant improvement over the traditional application of DDP, which leads to a complexity of $O(n^{4})$ when reasonable time step sizes are used. To evaluate RETRO's performance in terms of error, we conducted a comprehensive analysis of its regret bounds, comparing it to an Oracle value function obtained through an Oracle trajectory optimization algorithm. Our analytical findings demonstrate that RETRO's total regret can be upper-bounded by a function of the chosen time step size. Moreover, our approach delivers smoothly optimized robot trajectories within the joint space, offering flexibility and adaptability for various tasks. It can seamlessly integrate task-specific requirements such as collision avoidance while maintaining real-time control rates. We validate the effectiveness of our framework through extensive simulations and real-world robot experiments in closed-loop manipulation scenarios.

Retrieval-augmented language models (LMs) have received much attention recently. However, typically the retriever is not trained jointly as a native component of the LM, but added to an already-pretrained LM, which limits the ability of the LM and the retriever to adapt to one another. In this work, we propose the Retrieval-Pretrained Transformer (RPT), an architecture and training procedure for jointly training a retrieval-augmented LM from scratch for the task of modeling long texts. Given a recently generated text chunk in a long document, the LM computes query representations, which are then used to retrieve earlier chunks in the document, located potentially tens of thousands of tokens before. Information from retrieved chunks is fused into the LM representations to predict the next target chunk. We train the retriever component with a semantic objective, where the goal is to retrieve chunks that increase the probability of the next chunk, according to a reference LM. We evaluate RPT on four long-range language modeling tasks, spanning books, code, and mathematical writing, and demonstrate that RPT improves retrieval quality and subsequently perplexity across the board compared to strong baselines.