Language-guided Skill Learning with Temporal Variational Inference

We present an algorithm for skill discovery from expert demonstrations. The algorithm first utilizes Large Language Models (LLMs) to propose an initial segmentation of the trajectories. Following that, a hierarchical variational inference framework incorporates the LLM-generated segmentation information to discover reusable skills by merging trajectory segments. To further control the trade-off between compression and reusability, we introduce a novel auxiliary objective based on the Minimum Description Length principle that helps guide this skill discovery process. Our results demonstrate that agents equipped with our method are able to discover skills that help accelerate learning and outperform baseline skill learning approaches on new long-horizon tasks in BabyAI, a grid world navigation environment, as well as ALFRED, a household simulation environment.

A Vision Check-up for Language Models

What does learning to model relationships between strings teach large language models (LLMs) about the visual world? We systematically evaluate LLMs' abilities to generate and recognize an assortment of visual concepts of increasing complexity and then demonstrate how a preliminary visual representation learning system can be trained using models of text. As language models lack the ability to consume or output visual information as pixels, we use code to represent images in our study. Although LLM-generated images do not look like natural images, results on image generation and the ability of models to correct these generated images indicate that precise modeling of strings can teach language models about numerous aspects of the visual world. Furthermore, experiments on self-supervised visual representation learning, utilizing images generated with text models, highlight the potential to train vision models capable of making semantic assessments of natural images using just LLMs.

The Truth is in There: Improving Reasoning in Language Models with Layer-Selective Rank Reduction

Transformer-based Large Language Models (LLMs) have become a fixture in modern machine learning. Correspondingly, significant resources are allocated towards research that aims to further advance this technology, typically resulting in models of increasing size that are trained on increasing amounts of data. This work, however, demonstrates the surprising result that it is often possible to significantly improve the performance of LLMs by selectively removing higher-order components of their weight matrices. This simple intervention, which we call LAyer-SElective Rank reduction (LASER), can be done on a model after training has completed, and requires no additional parameters or data. We show extensive experiments demonstrating the generality of this finding across language models and datasets, and provide in-depth analyses offering insights into both when LASER is effective and the mechanism by which it operates.

Learning adaptive planning representations with natural language guidance

Effective planning in the real world requires not only world knowledge, but the ability to leverage that knowledge to build the right representation of the task at hand. Decades of hierarchical planning techniques have used domain-specific temporal action abstractions to support efficient and accurate planning, almost always relying on human priors and domain knowledge to decompose hard tasks into smaller subproblems appropriate for a goal or set of goals. This paper describes Ada (Action Domain Acquisition), a framework for automatically constructing task-specific planning representations using task-general background knowledge from language models (LMs). Starting with a general-purpose hierarchical planner and a low-level goal-conditioned policy, Ada interactively learns a library of planner-compatible high-level action abstractions and low-level controllers adapted to a particular domain of planning tasks. On two language-guided interactive planning benchmarks (Mini Minecraft and ALFRED Household Tasks), Ada strongly outperforms other approaches that use LMs for sequential decision-making, offering more accurate plans and better generalization to complex tasks.

Pushdown Layers: Encoding Recursive Structure in Transformer Language Models

Recursion is a prominent feature of human language, and fundamentally challenging for self-attention due to the lack of an explicit recursive-state tracking mechanism. Consequently, Transformer language models poorly capture long-tail recursive structure and exhibit sample-inefficient syntactic generalization. This work introduces Pushdown Layers, a new self-attention layer that models recursive state via a stack tape that tracks estimated depths of every token in an incremental parse of the observed prefix. Transformer LMs with Pushdown Layers are syntactic language models that autoregressively and synchronously update this stack tape as they predict new tokens, in turn using the stack tape to softly modulate attention over tokens -- for instance, learning to "skip" over closed constituents. When trained on a corpus of strings annotated with silver constituency parses, Transformers equipped with Pushdown Layers achieve dramatically better and 3-5x more sample-efficient syntactic generalization, while maintaining similar perplexities. Pushdown Layers are a drop-in replacement for standard self-attention. We illustrate this by finetuning GPT2-medium with Pushdown Layers on an automatically parsed WikiText-103, leading to improvements on several GLUE text classification tasks.

Pseudointelligence: A Unifying Framework for Language Model Evaluation

With large language models surpassing human performance on an increasing number of benchmarks, we must take a principled approach for targeted evaluation of model capabilities. Inspired by pseudorandomness, we propose pseudointelligence, which captures the maxim that "(perceived) intelligence lies in the eye of the beholder". That is, that claims of intelligence are meaningful only when their evaluator is taken into account. Concretely, we propose a complexity-theoretic framework of model evaluation cast as a dynamic interaction between a model and a learned evaluator. We demonstrate that this framework can be used to reason about two case studies in language model evaluation, as well as analyze existing evaluation methods.

Grokking of Hierarchical Structure in Vanilla Transformers

For humans, language production and comprehension is sensitive to the hierarchical structure of sentences. In natural language processing, past work has questioned how effectively neural sequence models like transformers capture this hierarchical structure when generalizing to structurally novel inputs. We show that transformer language models can learn to generalize hierarchically after training for extremely long periods -- far beyond the point when in-domain accuracy has saturated. We call this phenomenon \emph{structural grokking}. On multiple datasets, structural grokking exhibits inverted U-shaped scaling in model depth: intermediate-depth models generalize better than both very deep and very shallow transformers. When analyzing the relationship between model-internal properties and grokking, we find that optimal depth for grokking can be identified using the tree-structuredness metric of \citet{murty2023projections}. Overall, our work provides strong evidence that, with extended training, vanilla transformers discover and use hierarchical structure.

LaMPP: Language Models as Probabilistic Priors for Perception and Action

Language models trained on large text corpora encode rich distributional information about real-world environments and action sequences. This information plays a crucial role in current approaches to language processing tasks like question answering and instruction generation. We describe how to leverage language models for *non-linguistic* perception and control tasks. Our approach casts labeling and decision-making as inference in probabilistic graphical models in which language models parameterize prior distributions over labels, decisions and parameters, making it possible to integrate uncertain observations and incomplete background knowledge in a principled way. Applied to semantic segmentation, household navigation, and activity recognition tasks, this approach improves predictions on rare, out-of-distribution, and structurally novel inputs.

Characterizing Intrinsic Compositionality in Transformers with Tree Projections

When trained on language data, do transformers learn some arbitrary computation that utilizes the full capacity of the architecture or do they learn a simpler, tree-like computation, hypothesized to underlie compositional meaning systems like human languages? There is an apparent tension between compositional accounts of human language understanding, which are based on a restricted bottom-up computational process, and the enormous success of neural models like transformers, which can route information arbitrarily between different parts of their input. One possibility is that these models, while extremely flexible in principle, in practice learn to interpret language hierarchically, ultimately building sentence representations close to those predictable by a bottom-up, tree-structured model. To evaluate this possibility, we describe an unsupervised and parameter-free method to \emph{functionally project} the behavior of any transformer into the space of tree-structured networks. Given an input sentence, we produce a binary tree that approximates the transformer's representation-building process and a score that captures how "tree-like" the transformer's behavior is on the input. While calculation of this score does not require training any additional models, it provably upper-bounds the fit between a transformer and any tree-structured approximation. Using this method, we show that transformers for three different tasks become more tree-like over the course of training, in some cases unsupervisedly recovering the same trees as supervised parsers. These trees, in turn, are predictive of model behavior, with more tree-like models generalizing better on tests of compositional generalization.

Correcting Robot Plans with Natural Language Feedback

When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop robot control. Corrections might take the form of new goal specifications, new constraints (e.g. to avoid specific objects), or hints for planning algorithms (e.g. to visit specific waypoints). Existing correction methods (e.g. using a joystick or direct manipulation of an end effector) require full teleoperation or real-time interaction. In this paper, we explore natural language as an expressive and flexible tool for robot correction. We describe how to map from natural language sentences to transformations of cost functions. We show that these transformations enable users to correct goals, update robot motions to accommodate additional user preferences, and recover from planning errors. These corrections can be leveraged to get 81% and 93% success rates on tasks where the original planner failed, with either one or two language corrections. Our method makes it possible to compose multiple constraints and generalizes to unseen scenes, objects, and sentences in simulated environments and real-world environments.