LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation

The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform long-horizon tasks without expensive annotated demonstrations. However, public benchmarks for testing the long-horizon reasoning capabilities of language-conditioned robots in various scenarios are still missing. To fill this gap, this work focuses on the tabletop manipulation task and releases a simulation benchmark, \textit{LoHoRavens}, which covers various long-horizon reasoning aspects spanning color, size, space, arithmetics and reference. Furthermore, there is a key modality bridging problem for long-horizon manipulation tasks with LLMs: how to incorporate the observation feedback during robot execution for the LLM's closed-loop planning, which is however less studied by prior work. We investigate two methods of bridging the modality gap: caption generation and learnable interface for incorporating explicit and implicit observation feedback to the LLM, respectively. These methods serve as the two baselines for our proposed benchmark. Experiments show that both methods struggle to solve some tasks, indicating long-horizon manipulation tasks are still challenging for current popular models. We expect the proposed public benchmark and baselines can help the community develop better models for long-horizon tabletop manipulation tasks.

Beyond the Imitation Game: Quantifying and extrapolating the capabilities of language models

Language models demonstrate both quantitative improvement and new qualitative capabilities with increasing scale. Despite their potentially transformative impact, these new capabilities are as yet poorly characterized. In order to inform future research, prepare for disruptive new model capabilities, and ameliorate socially harmful effects, it is vital that we understand the present and near-future capabilities and limitations of language models. To address this challenge, we introduce the Beyond the Imitation Game benchmark (BIG-bench). BIG-bench currently consists of 204 tasks, contributed by 442 authors across 132 institutions. Task topics are diverse, drawing problems from linguistics, childhood development, math, common-sense reasoning, biology, physics, social bias, software development, and beyond. BIG-bench focuses on tasks that are believed to be beyond the capabilities of current language models. We evaluate the behavior of OpenAI's GPT models, Google-internal dense transformer architectures, and Switch-style sparse transformers on BIG-bench, across model sizes spanning millions to hundreds of billions of parameters. In addition, a team of human expert raters performed all tasks in order to provide a strong baseline. Findings include: model performance and calibration both improve with scale, but are poor in absolute terms (and when compared with rater performance); performance is remarkably similar across model classes, though with benefits from sparsity; tasks that improve gradually and predictably commonly involve a large knowledge or memorization component, whereas tasks that exhibit "breakthrough" behavior at a critical scale often involve multiple steps or components, or brittle metrics; social bias typically increases with scale in settings with ambiguous context, but this can be improved with prompting.

Graph Neural Networks for Multiparallel Word Alignment

After a period of decrease, interest in word alignments is increasing again for their usefulness in domains such as typological research, cross-lingual annotation projection, and machine translation. Generally, alignment algorithms only use bitext and do not make use of the fact that many parallel corpora are multiparallel. Here, we compute high-quality word alignments between multiple language pairs by considering all language pairs together. First, we create a multiparallel word alignment graph, joining all bilingual word alignment pairs in one graph. Next, we use graph neural networks (GNNs) to exploit the graph structure. Our GNN approach (i) utilizes information about the meaning, position, and language of the input words, (ii) incorporates information from multiple parallel sentences, (iii) adds and removes edges from the initial alignments, and (iv) yields a prediction model that can generalize beyond the training sentences. We show that community detection provides valuable information for multiparallel word alignment. Our method outperforms previous work on three word-alignment datasets and on a downstream task.

Graph Algorithms for Multiparallel Word Alignment

With the advent of end-to-end deep learning approaches in machine translation, interest in word alignments initially decreased; however, they have again become a focus of research more recently. Alignments are useful for typological research, transferring formatting like markup to translated texts, and can be used in the decoding of machine translation systems. At the same time, massively multilingual processing is becoming an important NLP scenario, and pretrained language and machine translation models that are truly multilingual are proposed. However, most alignment algorithms rely on bitexts only and do not leverage the fact that many parallel corpora are multiparallel. In this work, we exploit the multiparallelity of corpora by representing an initial set of bilingual alignments as a graph and then predicting additional edges in the graph. We present two graph algorithms for edge prediction: one inspired by recommender systems and one based on network link prediction. Our experimental results show absolute improvements in $F_1$ of up to 28% over the baseline bilingual word aligner in different datasets.