RH20T-P: A Primitive-Level Robotic Dataset Towards Composable Generalization Agents

The ultimate goals of robotic learning is to acquire a comprehensive and generalizable robotic system capable of performing both seen skills within the training distribution and unseen skills in novel environments. Recent progress in utilizing language models as high-level planners has demonstrated that the complexity of tasks can be reduced through decomposing them into primitive-level plans, making it possible to generalize on novel robotic tasks in a composable manner. Despite the promising future, the community is not yet adequately prepared for composable generalization agents, particularly due to the lack of primitive-level real-world robotic datasets. In this paper, we propose a primitive-level robotic dataset, namely RH20T-P, which contains about 33000 video clips covering 44 diverse and complicated robotic tasks. Each clip is manually annotated according to a set of meticulously designed primitive skills, facilitating the future development of composable generalization agents. To validate the effectiveness of RH20T-P, we also construct a potential and scalable agent based on RH20T-P, called RA-P. Equipped with two planners specialized in task decomposition and motion planning, RA-P can adapt to novel physical skills through composable generalization. Our website and videos can be found at https://sites.google.com/view/rh20t-primitive/main. Dataset and code will be made available soon.

Assessment of Multimodal Large Language Models in Alignment with Human Values

Large Language Models (LLMs) aim to serve as versatile assistants aligned with human values, as defined by the principles of being helpful, honest, and harmless (hhh). However, in terms of Multimodal Large Language Models (MLLMs), despite their commendable performance in perception and reasoning tasks, their alignment with human values remains largely unexplored, given the complexity of defining hhh dimensions in the visual world and the difficulty in collecting relevant data that accurately mirrors real-world situations. To address this gap, we introduce Ch3Ef, a Compreh3ensive Evaluation dataset and strategy for assessing alignment with human expectations. Ch3Ef dataset contains 1002 human-annotated data samples, covering 12 domains and 46 tasks based on the hhh principle. We also present a unified evaluation strategy supporting assessment across various scenarios and different perspectives. Based on the evaluation results, we summarize over 10 key findings that deepen the understanding of MLLM capabilities, limitations, and the dynamic relationships between evaluation levels, guiding future advancements in the field.

MineDreamer: Learning to Follow Instructions via Chain-of-Imagination for Simulated-World Control

It is a long-lasting goal to design a generalist-embodied agent that can follow diverse instructions in human-like ways. However, existing approaches often fail to steadily follow instructions due to difficulties in understanding abstract and sequential natural language instructions. To this end, we introduce MineDreamer, an open-ended embodied agent built upon the challenging Minecraft simulator with an innovative paradigm that enhances instruction-following ability in low-level control signal generation. Specifically, MineDreamer is developed on top of recent advances in Multimodal Large Language Models (MLLMs) and diffusion models, and we employ a Chain-of-Imagination (CoI) mechanism to envision the step-by-step process of executing instructions and translating imaginations into more precise visual prompts tailored to the current state; subsequently, the agent generates keyboard-and-mouse actions to efficiently achieve these imaginations, steadily following the instructions at each step. Extensive experiments demonstrate that MineDreamer follows single and multi-step instructions steadily, significantly outperforming the best generalist agent baseline and nearly doubling its performance. Moreover, qualitative analysis of the agent's imaginative ability reveals its generalization and comprehension of the open world.

EasyJailbreak: A Unified Framework for Jailbreaking Large Language Models

Jailbreak attacks are crucial for identifying and mitigating the security vulnerabilities of Large Language Models (LLMs). They are designed to bypass safeguards and elicit prohibited outputs. However, due to significant differences among various jailbreak methods, there is no standard implementation framework available for the community, which limits comprehensive security evaluations. This paper introduces EasyJailbreak, a unified framework simplifying the construction and evaluation of jailbreak attacks against LLMs. It builds jailbreak attacks using four components: Selector, Mutator, Constraint, and Evaluator. This modular framework enables researchers to easily construct attacks from combinations of novel and existing components. So far, EasyJailbreak supports 11 distinct jailbreak methods and facilitates the security validation of a broad spectrum of LLMs. Our validation across 10 distinct LLMs reveals a significant vulnerability, with an average breach probability of 60% under various jailbreaking attacks. Notably, even advanced models like GPT-3.5-Turbo and GPT-4 exhibit average Attack Success Rates (ASR) of 57% and 33%, respectively. We have released a wealth of resources for researchers, including a web platform, PyPI published package, screencast video, and experimental outputs.

Endora: Video Generation Models as Endoscopy Simulators

Generative models hold promise for revolutionizing medical education, robot-assisted surgery, and data augmentation for machine learning. Despite progress in generating 2D medical images, the complex domain of clinical video generation has largely remained untapped.This paper introduces \model, an innovative approach to generate medical videos that simulate clinical endoscopy scenes. We present a novel generative model design that integrates a meticulously crafted spatial-temporal video transformer with advanced 2D vision foundation model priors, explicitly modeling spatial-temporal dynamics during video generation. We also pioneer the first public benchmark for endoscopy simulation with video generation models, adapting existing state-of-the-art methods for this endeavor.Endora demonstrates exceptional visual quality in generating endoscopy videos, surpassing state-of-the-art methods in extensive testing. Moreover, we explore how this endoscopy simulator can empower downstream video analysis tasks and even generate 3D medical scenes with multi-view consistency. In a nutshell, Endora marks a notable breakthrough in the deployment of generative AI for clinical endoscopy research, setting a substantial stage for further advances in medical content generation. For more details, please visit our project page: https://endora-medvidgen.github.io/.

Exploring Safety Generalization Challenges of Large Language Models via Code

The rapid advancement of Large Language Models (LLMs) has brought about remarkable capabilities in natural language processing but also raised concerns about their potential misuse. While strategies like supervised fine-tuning and reinforcement learning from human feedback have enhanced their safety, these methods primarily focus on natural languages, which may not generalize to other domains. This paper introduces CodeAttack, a framework that transforms natural language inputs into code inputs, presenting a novel environment for testing the safety generalization of LLMs. Our comprehensive studies on state-of-the-art LLMs including GPT-4, Claude-2, and Llama-2 series reveal a common safety vulnerability of these models against code input: CodeAttack consistently bypasses the safety guardrails of all models more than 80% of the time. Furthermore, we find that a larger distribution gap between CodeAttack and natural language leads to weaker safety generalization, such as encoding natural language input with data structures or using less popular programming languages. These findings highlight new safety risks in the code domain and the need for more robust safety alignment algorithms to match the code capabilities of LLMs.

Towards Tracing Trustworthiness Dynamics: Revisiting Pre-training Period of Large Language Models

Ensuring the trustworthiness of large language models (LLMs) is crucial. Most studies concentrate on fully pre-trained LLMs to better understand and improve LLMs' trustworthiness. In this paper, to reveal the untapped potential of pre-training, we pioneer the exploration of LLMs' trustworthiness during this period, focusing on five key dimensions: reliability, privacy, toxicity, fairness, and robustness. To begin with, we apply linear probing to LLMs. The high probing accuracy suggests that \textit{LLMs in early pre-training can already distinguish concepts in each trustworthiness dimension}. Therefore, to further uncover the hidden possibilities of pre-training, we extract steering vectors from a LLM's pre-training checkpoints to enhance the LLM's trustworthiness. Finally, inspired by~\citet{choi2023understanding} that mutual information estimation is bounded by linear probing accuracy, we also probe LLMs with mutual information to investigate the dynamics of trustworthiness during pre-training. We are the first to observe a similar two-phase phenomenon: fitting and compression~\citep{shwartz2017opening}. This research provides an initial exploration of trustworthiness modeling during LLM pre-training, seeking to unveil new insights and spur further developments in the field. We will make our code publicly accessible at \url{https://github.com/ChnQ/TracingLLM}.

Attacks, Defenses and Evaluations for LLM Conversation Safety: A Survey

Large Language Models (LLMs) are now commonplace in conversation applications. However, their risks of misuse for generating harmful responses have raised serious societal concerns and spurred recent research on LLM conversation safety. Therefore, in this survey, we provide a comprehensive overview of recent studies, covering three critical aspects of LLM conversation safety: attacks, defenses, and evaluations. Our goal is to provide a structured summary that enhances understanding of LLM conversation safety and encourages further investigation into this important subject. For easy reference, we have categorized all the studies mentioned in this survey according to our taxonomy, available at: https://github.com/niconi19/LLM-conversation-safety.

SALAD-Bench: A Hierarchical and Comprehensive Safety Benchmark for Large Language Models

In the rapidly evolving landscape of Large Language Models (LLMs), ensuring robust safety measures is paramount. To meet this crucial need, we propose \emph{SALAD-Bench}, a safety benchmark specifically designed for evaluating LLMs, attack, and defense methods. Distinguished by its breadth, SALAD-Bench transcends conventional benchmarks through its large scale, rich diversity, intricate taxonomy spanning three levels, and versatile functionalities.SALAD-Bench is crafted with a meticulous array of questions, from standard queries to complex ones enriched with attack, defense modifications and multiple-choice. To effectively manage the inherent complexity, we introduce an innovative evaluators: the LLM-based MD-Judge for QA pairs with a particular focus on attack-enhanced queries, ensuring a seamless, and reliable evaluation. Above components extend SALAD-Bench from standard LLM safety evaluation to both LLM attack and defense methods evaluation, ensuring the joint-purpose utility. Our extensive experiments shed light on the resilience of LLMs against emerging threats and the efficacy of contemporary defense tactics. Data and evaluator are released under https://github.com/OpenSafetyLab/SALAD-BENCH.

From GPT-4 to Gemini and Beyond: Assessing the Landscape of MLLMs on Generalizability, Trustworthiness and Causality through Four Modalities

Multi-modal Large Language Models (MLLMs) have shown impressive abilities in generating reasonable responses with respect to multi-modal contents. However, there is still a wide gap between the performance of recent MLLM-based applications and the expectation of the broad public, even though the most powerful OpenAI's GPT-4 and Google's Gemini have been deployed. This paper strives to enhance understanding of the gap through the lens of a qualitative study on the generalizability, trustworthiness, and causal reasoning capabilities of recent proprietary and open-source MLLMs across four modalities: ie, text, code, image, and video, ultimately aiming to improve the transparency of MLLMs. We believe these properties are several representative factors that define the reliability of MLLMs, in supporting various downstream applications. To be specific, we evaluate the closed-source GPT-4 and Gemini and 6 open-source LLMs and MLLMs. Overall we evaluate 230 manually designed cases, where the qualitative results are then summarized into 12 scores (ie, 4 modalities times 3 properties). In total, we uncover 14 empirical findings that are useful to understand the capabilities and limitations of both proprietary and open-source MLLMs, towards more reliable downstream multi-modal applications.