DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning

Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring these policies from simulation to real world remains a significant challenge. One important issue is the mismatch in low-level controller dynamics, where identical trajectories can lead to vastly different contact forces and behaviors when control parameters vary. Existing approaches often rely on manual tuning or controller randomization, which can be labor-intensive, task-specific, and introduce significant training difficulty. In this work, we propose a framework that jointly learns actions and controller parameters based on the historical information of both trajectory and controller. This adaptive controller adjustment mechanism allows the policy to automatically tune control parameters during execution, thereby mitigating the sim-to-real gap without extensive manual tuning or excessive randomization. Moreover, by explicitly providing controller parameters as part of the observation, our approach facilitates better reasoning over force interactions and improves robustness in real-world scenarios. Experimental results demonstrate that our method achieves improved transfer performance across a variety of dexterous tasks involving variable force conditions.

TinyHelen's First Curriculum: Training and Evaluating Tiny Language Models in a Simpler Language Environment

Training language models (LMs) and their application agents is increasingly costly due to large datasets and models, making test failures difficult to bear. Simplified language environments serve as primordial training and testing grounds, retaining essential commonsense and communication skills but in a more digestible form, potentially enhancing the learning efficiency of LMs, and thus reducing the required model size and data volume for effective training and evaluation. In these simplified language environments, workable strategies for small models, datasets, and agents may be adaptable to larger models, datasets, and agents in complex language environments. To create such environments, we focus on two aspects: i) minimizing language dataset noise and complexity, and ii) preserving the essential text distribution characteristics. Unlike previous methods, we propose a pipeline to refine text data by eliminating noise, minimizing vocabulary, and maintaining genre-specific patterns (e.g., for books, conversation, code, etc.). Implementing this pipeline with large LMs, we have created a leaner suite of LM training and evaluation datasets: 71M Leaner-Pretrain, 7M Leaner-Instruct, Leaner-Glue for assessing linguistic proficiency, and Leaner-Eval for testing instruction-following ability. Our experiments show that leaner pre-training boosts LM learning efficiency. Tiny LMs trained on these datasets outperform those trained on original datasets in instruction-following across different language granularity levels. Moreover, the Leaner-Pretrain dataset's alignment with conventional large LM training sets enables resource-optimized analysis of how learning objectives, model architectures, and training techniques impact performance on language modeling and downstream tasks. Our code and datasets are available at https://github.com/EmpathYang/TinyHelen.git.

ORBIT: Cost-Effective Dataset Curation for Large Language Model Domain Adaptation with an Astronomy Case Study

Recent advances in language modeling demonstrate the need for high-quality domain-specific training data, especially for tasks that require specialized knowledge. General-purpose models, while versatile, often lack the depth needed for expert-level tasks because of limited domain-specific information. Domain adaptation training can enhance these models, but it demands substantial, high-quality data. To address this, we propose ORBIT, a cost-efficient methodology for curating massive, high-quality domain-specific datasets from noisy web sources, tailored for training specialist large language models. Using astronomy as a primary case study, we refined the 1.3T-token FineWeb-Edu dataset into a high-quality, 10B-token subset focused on astronomy. Fine-tuning \textsc{LLaMA-3-8B} on a 1B-token astronomy subset improved performance on the MMLU astronomy benchmark from 69\% to 76\% and achieved top results on AstroBench, an astronomy-specific benchmark. Moreover, our model (Orbit-LLaMA) outperformed \textsc{LLaMA-3-8B-base}, with GPT-4o evaluations preferring it in 73\% of cases across 1000 astronomy-specific questions. Additionally, we validated ORBIT's generalizability by applying it to law and medicine, achieving a significant improvement of data quality compared to an unfiltered baseline. We open-source the ORBIT methodology, including the curated datasets, the codebase, and the resulting model at \href{https://github.com/ModeEric/ORBIT-Llama}{https://github.com/ModeEric/ORBIT-Llama}.

Which Channel in 6G, Low-rank or Full-rank, more needs RIS?

Reconfigurable intelligent surface (RIS), as an efficient tool to improve receive signal-to-noise ratio, extend coverage and create more spatial diversity, is viewed as a most promising technique for the future wireless networks like 6G. As you know, RIS is very suitable for a special wireless scenario with wireless link between BS and users being completely blocked, i.e., no link. In this paper, we extend its applications to a general scenario, i.e., rank-deficient channel, particularly some extremely low-rank ones such as no link, and line-of-sight (LoS, rank-one). Actually, there are several potential important low-rank applications like low-altitude, satellite, UAV, marine, and deep-space communications. In such a situation, it is found that RIS may make a dramatic degrees of freedom (DoF) enhancement over no RIS. By using a distributed RISs placement, the DoF of channel from BS to user in LoS channel may be even boosted from a low-rank like 0/1 to full-rank. This will achieve an extremely rate improvement via spatial parallel multiple-stream transmission from BS to user. In this paper, we present a complete review of making an in-depth discussion on DoF effect of RIS.

Which Channel, Low-rank or Full-rank, more needs RIS?

RIS, as an efficient tool to improve receive signal-to-noise ratio, extend coverage and create more spatial diversity, is viewed as a most promising technique for the future wireless networks like 6G. As you know, IRS is very suitable for a special wireless scenario with wireless link between BS and users being completely blocked. In this paper, we extend its applications to a general scenario, i.e., rank-deficient-channel, particularly some extremely low-rank ones such as no link, and line-of-sight (LoS). Actually, there are several potential important low-rank applications of like satellite, UAV communications, marine, and deep-space communications. In such a situation, it is found that RIS may make a dramatic DoF enhancement over no RIS. By using a distributed RIS placement, the DoF of channels from BS to users may be even boosted from a low-rank like 0/1 to full-rank. This will achieve an extremely rate improvement via multiple spatial streams transmission per user. In this paper, we present a complete review of make a in-depth discussion on DoF effect of RIS.

DoF Analysis and Beamforming Design for Active IRS-aided Multi-user MIMO Wireless Communication in Rank-deficient Channels

Due to its ability of significantly improving data rate, intelligent reflecting surface (IRS) will be a potential crucial technique for the future generation wireless networks like 6G. In this paper, we will focus on the analysis of degree of freedom (DoF) in IRS-aided multi-user MIMO network. Firstly, the DoF upper bound of IRS-aided single-user MIMO network, i.e., the achievable maximum DoF of such a system, is derived, and the corresponding results are extended to the case of IRS-aided multiuser MIMO by using the matrix rank inequalities. In particular, in serious rank-deficient, also called low-rank, channels like line-of-sight (LoS), the network DoF may doubles over no-IRS with the help of IRS. To verify the rate performance gain from augmented DoF, three closed-form beamforming methods, null-space projection plus maximize transmit power and maximize receive power (NSP-MTP-MRP), Schmidt orthogonalization plus minimum mean square error (SO-MMSE) and two-layer leakage plus MMSE (TLL-MMSE) are proposed to achieve the maximum DoF. Simulation results shows that IRS does make a dramatic rate enhancement. For example, in a serious deficient channel, the sum-rate of the proposed TLL-MMSE aided by IRS is about twice that of no IRS. This means that IRS may achieve a significant DoF improvement in such a channel.

AgentOccam: A Simple Yet Strong Baseline for LLM-Based Web Agents

Autonomy via agents using large language models (LLMs) for personalized, standardized tasks boosts human efficiency. Automating web tasks (like booking hotels within a budget) is increasingly sought after. Fulfilling practical needs, the web agent also serves as an important proof-of-concept example for various agent grounding scenarios, with its success promising advancements in many future applications. Prior research often handcrafts web agent strategies (e.g., prompting templates, multi-agent systems, search methods, etc.) and the corresponding in-context examples, which may not generalize well across all real-world scenarios. On the other hand, there has been limited study on the misalignment between a web agent's observation/action representation and the pre-training data of the LLM it's based on. This discrepancy is especially notable when LLMs are primarily trained for language completion rather than tasks involving embodied navigation actions and symbolic web elements. Our study enhances an LLM-based web agent by simply refining its observation and action space to better align with the LLM's capabilities. This approach enables our base agent to significantly outperform previous methods on a wide variety of web tasks. Specifically, on WebArena, a benchmark featuring general-purpose web interaction tasks, our agent AgentOccam surpasses the previous state-of-the-art and concurrent work by 9.8 (+29.4%) and 5.9 (+15.8%) absolute points respectively, and boosts the success rate by 26.6 points (+161%) over similar plain web agents with its observation and action space alignment. We achieve this without using in-context examples, new agent roles, online feedback or search strategies. AgentOccam's simple design highlights LLMs' impressive zero-shot performance on web tasks, and underlines the critical role of carefully tuning observation and action spaces for LLM-based agents.

Prejudice and Caprice: A Statistical Framework for Measuring Social Discrimination in Large Language Models

The growing integration of large language models (LLMs) into social operations amplifies their impact on decisions in crucial areas such as economics, law, education, and healthcare, raising public concerns about these models' discrimination-related safety and reliability. However, prior discrimination measuring frameworks solely assess the average discriminatory behavior of LLMs, often proving inadequate due to the overlook of an additional discrimination-leading factor, i.e., the LLMs' prediction variation across diverse contexts. In this work, we present the Prejudice-Caprice Framework (PCF) that comprehensively measures discrimination in LLMs by considering both their consistently biased preference and preference variation across diverse contexts. Specifically, we mathematically dissect the aggregated contextualized discrimination risk of LLMs into prejudice risk, originating from LLMs' persistent prejudice, and caprice risk, stemming from their generation inconsistency. In addition, we utilize a data-mining approach to gather preference-detecting probes from sentence skeletons, devoid of attribute indications, to approximate LLMs' applied contexts. While initially intended for assessing discrimination in LLMs, our proposed PCF facilitates the comprehensive and flexible measurement of any inductive biases, including knowledge alongside prejudice, across various modality models. We apply our discrimination-measuring framework to 12 common LLMs, yielding intriguing findings: i) modern LLMs demonstrate significant pro-male stereotypes, ii) LLMs' exhibited discrimination correlates with several social and economic factors, iii) prejudice risk dominates the overall discrimination risk and follows a normal distribution, and iv) caprice risk contributes minimally to the overall risk but follows a fat-tailed distribution, suggesting that it is wild risk requiring enhanced surveillance.

Persona-DB: Efficient Large Language Model Personalization for Response Prediction with Collaborative Data Refinement

The increasing demand for personalized interactions with large language models (LLMs) calls for the development of methodologies capable of accurately and efficiently identifying user opinions and preferences. Retrieval augmentation emerges as an effective strategy, as it can accommodate a vast number of users without the costs from fine-tuning. Existing research, however, has largely focused on enhancing the retrieval stage and devoted limited exploration toward optimizing the representation of the database, a crucial aspect for tasks such as personalization. In this work, we examine the problem from a novel angle, focusing on how data can be better represented for more efficient retrieval in the context of LLM customization. To tackle this challenge, we introduce Persona-DB, a simple yet effective framework consisting of a hierarchical construction process to improve generalization across task contexts and collaborative refinement to effectively bridge knowledge gaps among users. In the task of response forecasting, Persona-DB demonstrates superior efficiency in maintaining accuracy with a significantly reduced retrieval size, a critical advantage in scenarios with extensive histories or limited context windows. Our experiments also indicate a marked improvement of over 15% under cold-start scenarios, when users have extremely sparse data. Furthermore, our analysis reveals the increasing importance of collaborative knowledge as the retrieval capacity expands.

If LLM Is the Wizard, Then Code Is the Wand: A Survey on How Code Empowers Large Language Models to Serve as Intelligent Agents

The prominent large language models (LLMs) of today differ from past language models not only in size, but also in the fact that they are trained on a combination of natural language and formal language (code). As a medium between humans and computers, code translates high-level goals into executable steps, featuring standard syntax, logical consistency, abstraction, and modularity. In this survey, we present an overview of the various benefits of integrating code into LLMs' training data. Specifically, beyond enhancing LLMs in code generation, we observe that these unique properties of code help (i) unlock the reasoning ability of LLMs, enabling their applications to a range of more complex natural language tasks; (ii) steer LLMs to produce structured and precise intermediate steps, which can then be connected to external execution ends through function calls; and (iii) take advantage of code compilation and execution environment, which also provides diverse feedback for model improvement. In addition, we trace how these profound capabilities of LLMs, brought by code, have led to their emergence as intelligent agents (IAs) in situations where the ability to understand instructions, decompose goals, plan and execute actions, and refine from feedback are crucial to their success on downstream tasks. Finally, we present several key challenges and future directions of empowering LLMs with code.