Mastering Robot Manipulation with Multimodal Prompts through Pretraining and Multi-task Fine-tuning

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction following and task planning. However, not much attention has been paid to embodied tasks with multimodal prompts, combining vision signals with text descriptions. This type of task poses a major challenge to robots' capability to understand the interconnection and complementarity between vision and language signals. In this work, we introduce an effective framework that learns a policy to perform robot manipulation with multimodal prompts from multi-task expert trajectories. Our methods consist of a two-stage training pipeline that performs inverse dynamics pretraining and multi-task finetuning. To facilitate multimodal understanding, we design our multimodal prompt encoder by augmenting a pretrained LM with a residual connection to the visual input and model the dependencies among action dimensions. Empirically, we evaluate the efficacy of our method on the VIMA-BENCH and establish a new state-of-the-art (10% improvement in success rate). Moreover, we demonstrate that our model exhibits remarkable in-context learning ability.

ASSERT: Automated Safety Scenario Red Teaming for Evaluating the Robustness of Large Language Models

As large language models are integrated into society, robustness toward a suite of prompts is increasingly important to maintain reliability in a high-variance environment.Robustness evaluations must comprehensively encapsulate the various settings in which a user may invoke an intelligent system. This paper proposes ASSERT, Automated Safety Scenario Red Teaming, consisting of three methods -- semantically aligned augmentation, target bootstrapping, and adversarial knowledge injection. For robust safety evaluation, we apply these methods in the critical domain of AI safety to algorithmically generate a test suite of prompts covering diverse robustness settings -- semantic equivalence, related scenarios, and adversarial. We partition our prompts into four safety domains for a fine-grained analysis of how the domain affects model performance. Despite dedicated safeguards in existing state-of-the-art models, we find statistically significant performance differences of up to 11% in absolute classification accuracy among semantically related scenarios and error rates of up to 19% absolute error in zero-shot adversarial settings, raising concerns for users' physical safety.

Empowering Psychotherapy with Large Language Models: Cognitive Distortion Detection through Diagnosis of Thought Prompting

Mental illness remains one of the most critical public health issues of our time, due to the severe scarcity and accessibility limit of professionals. Psychotherapy requires high-level expertise to conduct deep, complex reasoning and analysis on the cognition modeling of the patients. In the era of Large Language Models, we believe it is the right time to develop AI assistance for computational psychotherapy. We study the task of cognitive distortion detection and propose the Diagnosis of Thought (DoT) prompting. DoT performs diagnosis on the patient's speech via three stages: subjectivity assessment to separate the facts and the thoughts; contrastive reasoning to elicit the reasoning processes supporting and contradicting the thoughts; and schema analysis to summarize the cognition schemas. The generated diagnosis rationales through the three stages are essential for assisting the professionals. Experiments demonstrate that DoT obtains significant improvements over ChatGPT for cognitive distortion detection, while generating high-quality rationales approved by human experts.

Zero-Shot Detection of Machine-Generated Codes

This work proposes a training-free approach for the detection of LLMs-generated codes, mitigating the risks associated with their indiscriminate usage. To the best of our knowledge, our research is the first to investigate zero-shot detection techniques applied to code generated by advanced black-box LLMs like ChatGPT. Firstly, we find that existing training-based or zero-shot text detectors are ineffective in detecting code, likely due to the unique statistical properties found in code structures. We then modify the previous zero-shot text detection method, DetectGPT (Mitchell et al., 2023) by utilizing a surrogate white-box model to estimate the probability of the rightmost tokens, allowing us to identify code snippets generated by language models. Through extensive experiments conducted on the python codes of the CodeContest and APPS dataset, our approach demonstrates its effectiveness by achieving state-of-the-art detection results on text-davinci-003, GPT-3.5, and GPT-4 models. Moreover, our method exhibits robustness against revision attacks and generalizes well to Java codes. We also find that the smaller code language model like PolyCoder-160M performs as a universal code detector, outperforming the billion-scale counterpart. The codes will be available at https://github.com/ Xianjun-Yang/Code_detection.git

Shadow Alignment: The Ease of Subverting Safely-Aligned Language Models

Warning: This paper contains examples of harmful language, and reader discretion is recommended. The increasing open release of powerful large language models (LLMs) has facilitated the development of downstream applications by reducing the essential cost of data annotation and computation. To ensure AI safety, extensive safety-alignment measures have been conducted to armor these models against malicious use (primarily hard prompt attack). However, beneath the seemingly resilient facade of the armor, there might lurk a shadow. By simply tuning on 100 malicious examples with 1 GPU hour, these safely aligned LLMs can be easily subverted to generate harmful content. Formally, we term a new attack as Shadow Alignment: utilizing a tiny amount of data can elicit safely-aligned models to adapt to harmful tasks without sacrificing model helpfulness. Remarkably, the subverted models retain their capability to respond appropriately to regular inquiries. Experiments across 8 models released by 5 different organizations (LLaMa-2, Falcon, InternLM, BaiChuan2, Vicuna) demonstrate the effectiveness of shadow alignment attack. Besides, the single-turn English-only attack successfully transfers to multi-turn dialogue and other languages. This study serves as a clarion call for a collective effort to overhaul and fortify the safety of open-source LLMs against malicious attackers.

Guiding Instruction-based Image Editing via Multimodal Large Language Models

Instruction-based image editing improves the controllability and flexibility of image manipulation via natural commands without elaborate descriptions or regional masks. However, human instructions are sometimes too brief for current methods to capture and follow. Multimodal large language models (MLLMs) show promising capabilities in cross-modal understanding and visual-aware response generation via LMs. We investigate how MLLMs facilitate edit instructions and present MLLM-Guided Image Editing (MGIE). MGIE learns to derive expressive instructions and provides explicit guidance. The editing model jointly captures this visual imagination and performs manipulation through end-to-end training. We evaluate various aspects of Photoshop-style modification, global photo optimization, and local editing. Extensive experimental results demonstrate that expressive instructions are crucial to instruction-based image editing, and our MGIE can lead to a notable improvement in automatic metrics and human evaluation while maintaining competitive inference efficiency.

Automatically Correcting Large Language Models: Surveying the landscape of diverse self-correction strategies

Large language models (LLMs) have demonstrated remarkable performance across a wide array of NLP tasks. However, their efficacy is undermined by undesired and inconsistent behaviors, including hallucination, unfaithful reasoning, and toxic content. A promising approach to rectify these flaws is self-correction, where the LLM itself is prompted or guided to fix problems in its own output. Techniques leveraging automated feedback -- either produced by the LLM itself or some external system -- are of particular interest as they are a promising way to make LLM-based solutions more practical and deployable with minimal human feedback. This paper presents a comprehensive review of this emerging class of techniques. We analyze and taxonomize a wide array of recent work utilizing these strategies, including training-time, generation-time, and post-hoc correction. We also summarize the major applications of this strategy and conclude by discussing future directions and challenges.

VELMA: Verbalization Embodiment of LLM Agents for Vision and Language Navigation in Street View

Incremental decision making in real-world environments is one of the most challenging tasks in embodied artificial intelligence. One particularly demanding scenario is Vision and Language Navigation~(VLN) which requires visual and natural language understanding as well as spatial and temporal reasoning capabilities. The embodied agent needs to ground its understanding of navigation instructions in observations of a real-world environment like Street View. Despite the impressive results of LLMs in other research areas, it is an ongoing problem of how to best connect them with an interactive visual environment. In this work, we propose VELMA, an embodied LLM agent that uses a verbalization of the trajectory and of visual environment observations as contextual prompt for the next action. Visual information is verbalized by a pipeline that extracts landmarks from the human written navigation instructions and uses CLIP to determine their visibility in the current panorama view. We show that VELMA is able to successfully follow navigation instructions in Street View with only two in-context examples. We further finetune the LLM agent on a few thousand examples and achieve 25%-30% relative improvement in task completion over the previous state-of-the-art for two datasets.

Multilingual Conceptual Coverage in Text-to-Image Models

We propose "Conceptual Coverage Across Languages" (CoCo-CroLa), a technique for benchmarking the degree to which any generative text-to-image system provides multilingual parity to its training language in terms of tangible nouns. For each model we can assess "conceptual coverage" of a given target language relative to a source language by comparing the population of images generated for a series of tangible nouns in the source language to the population of images generated for each noun under translation in the target language. This technique allows us to estimate how well-suited a model is to a target language as well as identify model-specific weaknesses, spurious correlations, and biases without a-priori assumptions. We demonstrate how it can be used to benchmark T2I models in terms of multilinguality, and how despite its simplicity it is a good proxy for impressive generalization.

Generate then Select: Open-ended Visual Question Answering Guided by World Knowledge

The open-ended Visual Question Answering (VQA) task requires AI models to jointly reason over visual and natural language inputs using world knowledge. Recently, pre-trained Language Models (PLM) such as GPT-3 have been applied to the task and shown to be powerful world knowledge sources. However, these methods suffer from low knowledge coverage caused by PLM bias -- the tendency to generate certain tokens over other tokens regardless of prompt changes, and high dependency on the PLM quality -- only models using GPT-3 can achieve the best result. To address the aforementioned challenges, we propose RASO: a new VQA pipeline that deploys a generate-then-select strategy guided by world knowledge for the first time. Rather than following the de facto standard to train a multi-modal model that directly generates the VQA answer, RASO first adopts PLM to generate all the possible answers, and then trains a lightweight answer selection model for the correct answer. As proved in our analysis, RASO expands the knowledge coverage from in-domain training data by a large margin. We provide extensive experimentation and show the effectiveness of our pipeline by advancing the state-of-the-art by 4.1% on OK-VQA, without additional computation cost. Code and models are released at http://cogcomp.org/page/publication_view/1010