Cross-Modal Consistency in Multimodal Large Language Models

Recent developments in multimodal methodologies have marked the beginning of an exciting era for models adept at processing diverse data types, encompassing text, audio, and visual content. Models like GPT-4V, which merge computer vision with advanced language processing, exhibit extraordinary proficiency in handling intricate tasks that require a simultaneous understanding of both textual and visual information. Prior research efforts have meticulously evaluated the efficacy of these Vision Large Language Models (VLLMs) in various domains, including object detection, image captioning, and other related fields. However, existing analyses have often suffered from limitations, primarily centering on the isolated evaluation of each modality's performance while neglecting to explore their intricate cross-modal interactions. Specifically, the question of whether these models achieve the same level of accuracy when confronted with identical task instances across different modalities remains unanswered. In this study, we take the initiative to delve into the interaction and comparison among these modalities of interest by introducing a novel concept termed cross-modal consistency. Furthermore, we propose a quantitative evaluation framework founded on this concept. Our experimental findings, drawn from a curated collection of parallel vision-language datasets developed by us, unveil a pronounced inconsistency between the vision and language modalities within GPT-4V, despite its portrayal as a unified multimodal model. Our research yields insights into the appropriate utilization of such models and hints at potential avenues for enhancing their design.

DexH2R: Task-oriented Dexterous Manipulation from Human to Robots

Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such ability. However, these approaches either require complex data collection such as costly human effort for eye-robot contact, or suffer from poor generalization when faced with novel scenarios. To solve both challenges, we propose a framework, DexH2R, that combines human hand motion retargeting with a task-oriented residual action policy, improving task performance by bridging the embodiment gap between human and robotic dexterous hands. Specifically, DexH2R learns the residual policy directly from retargeted primitive actions and task-oriented rewards, eliminating the need for labor-intensive teleoperation systems. Moreover, we incorporate test-time guidance for novel scenarios by taking in desired trajectories of human hands and objects, allowing the dexterous hand to acquire new skills with high generalizability. Extensive experiments in both simulation and real-world environments demonstrate the effectiveness of our work, outperforming prior state-of-the-arts by 40% across various settings.

Imagined Potential Games: A Framework for Simulating, Learning and Evaluating Interactive Behaviors

Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike static or predictably moving obstacles, human behavior is inherently complex and unpredictable, stemming from dynamic interactions with other agents. Existing simulation tools frequently fail to adequately model such reactive and collaborative behaviors, impeding the development and evaluation of robust social navigation strategies. This paper introduces a novel framework utilizing distributed potential games to simulate human-like interactions in highly interactive scenarios. Within this framework, each agent imagines a virtual cooperative game with others based on its estimation. We demonstrate this formulation can facilitate the generation of diverse and realistic interaction patterns in a configurable manner across various scenarios. Additionally, we have developed a gym-like environment leveraging our interactive agent model to facilitate the learning and evaluation of interactive navigation algorithms.

Humanizing the Machine: Proxy Attacks to Mislead LLM Detectors

The advent of large language models (LLMs) has revolutionized the field of text generation, producing outputs that closely mimic human-like writing. Although academic and industrial institutions have developed detectors to prevent the malicious usage of LLM-generated texts, other research has doubt about the robustness of these systems. To stress test these detectors, we introduce a proxy-attack strategy that effortlessly compromises LLMs, causing them to produce outputs that align with human-written text and mislead detection systems. Our method attacks the source model by leveraging a reinforcement learning (RL) fine-tuned humanized small language model (SLM) in the decoding phase. Through an in-depth analysis, we demonstrate that our attack strategy is capable of generating responses that are indistinguishable to detectors, preventing them from differentiating between machine-generated and human-written text. We conduct systematic evaluations on extensive datasets using proxy-attacked open-source models, including Llama2-13B, Llama3-70B, and Mixtral-8*7B in both white- and black-box settings. Our findings show that the proxy-attack strategy effectively deceives the leading detectors, resulting in an average AUROC drop of 70.4% across multiple datasets, with a maximum drop of 90.3% on a single dataset. Furthermore, in cross-discipline scenarios, our strategy also bypasses these detectors, leading to a significant relative decrease of up to 90.9%, while in cross-language scenario, the drop reaches 91.3%. Despite our proxy-attack strategy successfully bypassing the detectors with such significant relative drops, we find that the generation quality of the attacked models remains preserved, even within a modest utility budget, when compared to the text produced by the original, unattacked source model.

Counting Ability of Large Language Models and Impact of Tokenization

Transformers, the backbone of modern large language models (LLMs), face inherent architectural limitations that impede their reasoning capabilities. Unlike recurrent networks, Transformers lack recurrent connections, confining them to constant-depth computation. This restriction places them in the complexity class TC$^0$, making them theoretically incapable of solving tasks that demand increasingly deep reasoning as input length grows. Counting, a fundamental component of many reasoning tasks, also requires reasoning depth to grow linearly to be performed inductively. While previous studies have established the upper limits of counting ability in Transformer-based expert models (i.e., models specifically trained for counting tasks), these findings do not directly extend to general-purpose LLMs due to differences in reasoning mechanisms. Recent work has highlighted how Chain of Thought (CoT) reasoning can help alleviate some of the architectural limitations of Transformers in counting tasks. However, little attention has been paid to the role of tokenization in these models. Unlike expert models that often use character-level tokenization, LLMs typically rely on byte-level (BPE) tokenizers, which fundamentally alters the way reasoning is processed. Our work investigates the impact of tokenization on the counting abilities of LLMs, uncovering substantial performance variations based on input tokenization differences. We provide both theoretical and experimental analyses, offering insights into how tokenization choices can undermine models' theoretical computability, thereby inspiring the design of new tokenization methods to enhance reasoning in LLMs.

Decoding Time Series with LLMs: A Multi-Agent Framework for Cross-Domain Annotation

Time series data is ubiquitous across various domains, including manufacturing, finance, and healthcare. High-quality annotations are essential for effectively understanding time series and facilitating downstream tasks; however, obtaining such annotations is challenging, particularly in mission-critical domains. In this paper, we propose TESSA, a multi-agent system designed to automatically generate both general and domain-specific annotations for time series data. TESSA introduces two agents: a general annotation agent and a domain-specific annotation agent. The general agent captures common patterns and knowledge across multiple source domains, leveraging both time-series-wise and text-wise features to generate general annotations. Meanwhile, the domain-specific agent utilizes limited annotations from the target domain to learn domain-specific terminology and generate targeted annotations. Extensive experiments on multiple synthetic and real-world datasets demonstrate that TESSA effectively generates high-quality annotations, outperforming existing methods.

Supervised Chain of Thought

Large Language Models (LLMs) have revolutionized natural language processing and hold immense potential for advancing Artificial Intelligence. However, the core architecture of most mainstream LLMs -- the Transformer -- has inherent limitations in computational depth, rendering them theoretically incapable of solving many reasoning tasks that demand increasingly deep computations. Chain of Thought (CoT) prompting has emerged as a technique to address these architectural limitations, as evidenced by several theoretical studies. It offers a promising approach to solving complex reasoning tasks that were previously beyond the capabilities of these models. Despite its successes, CoT and its variants (such as Tree of Thought, Graph of Thought, etc.) rely on a "one-prompt-for-all" approach, using a single prompt structure (e.g., "think step by step") for a wide range of tasks -- from counting and sorting to solving mathematical and algorithmic problems. This approach poses significant challenges for models to generate the correct reasoning steps, as the model must navigate through a vast prompt template space to find the appropriate template for each task. In this work, we build upon previous theoretical analyses of CoT to demonstrate how the one-prompt-for-all approach can negatively affect the computability of LLMs. We partition the solution search space into two: the prompt space and the answer space. Our findings show that task-specific supervision is essential for navigating the prompt space accurately and achieving optimal performance. Through experiments with state-of-the-art LLMs, we reveal a gap in reasoning performance when supervision is applied versus when it is not.

Trojan Prompt Attacks on Graph Neural Networks

Graph Prompt Learning (GPL) has been introduced as a promising approach that uses prompts to adapt pre-trained GNN models to specific downstream tasks without requiring fine-tuning of the entire model. Despite the advantages of GPL, little attention has been given to its vulnerability to backdoor attacks, where an adversary can manipulate the model's behavior by embedding hidden triggers. Existing graph backdoor attacks rely on modifying model parameters during training, but this approach is impractical in GPL as GNN encoder parameters are frozen after pre-training. Moreover, downstream users may fine-tune their own task models on clean datasets, further complicating the attack. In this paper, we propose TGPA, a backdoor attack framework designed specifically for GPL. TGPA injects backdoors into graph prompts without modifying pre-trained GNN encoders and ensures high attack success rates and clean accuracy. To address the challenge of model fine-tuning by users, we introduce a finetuning-resistant poisoning approach that maintains the effectiveness of the backdoor even after downstream model adjustments. Extensive experiments on multiple datasets under various settings demonstrate the effectiveness of TGPA in compromising GPL models with fixed GNN encoders.

Temporal-Enhanced Multimodal Transformer for Referring Multi-Object Tracking and Segmentation

Referring multi-object tracking (RMOT) is an emerging cross-modal task that aims to locate an arbitrary number of target objects and maintain their identities referred by a language expression in a video. This intricate task involves the reasoning of linguistic and visual modalities, along with the temporal association of target objects. However, the seminal work employs only loose feature fusion and overlooks the utilization of long-term information on tracked objects. In this study, we introduce a compact Transformer-based method, termed TenRMOT. We conduct feature fusion at both encoding and decoding stages to fully exploit the advantages of Transformer architecture. Specifically, we incrementally perform cross-modal fusion layer-by-layer during the encoding phase. In the decoding phase, we utilize language-guided queries to probe memory features for accurate prediction of the desired objects. Moreover, we introduce a query update module that explicitly leverages temporal prior information of the tracked objects to enhance the consistency of their trajectories. In addition, we introduce a novel task called Referring Multi-Object Tracking and Segmentation (RMOTS) and construct a new dataset named Ref-KITTI Segmentation. Our dataset consists of 18 videos with 818 expressions, and each expression averages 10.7 masks, which poses a greater challenge compared to the typical single mask in most existing referring video segmentation datasets. TenRMOT demonstrates superior performance on both the referring multi-object tracking and the segmentation tasks.

NesTools: A Dataset for Evaluating Nested Tool Learning Abilities of Large Language Models

Large language models (LLMs) combined with tool learning have gained impressive results in real-world applications. During tool learning, LLMs may call multiple tools in nested orders, where the latter tool call may take the former response as its input parameters. However, current research on the nested tool learning capabilities is still under-explored, since the existing benchmarks lack of relevant data instances. To address this problem, we introduce NesTools to bridge the current gap in comprehensive nested tool learning evaluations. NesTools comprises a novel automatic data generation method to construct large-scale nested tool calls with different nesting structures. With manual review and refinement, the dataset is in high quality and closely aligned with real-world scenarios. Therefore, NesTools can serve as a new benchmark to evaluate the nested tool learning abilities of LLMs. We conduct extensive experiments on 22 LLMs, and provide in-depth analyses with NesTools, which shows that current LLMs still suffer from the complex nested tool learning task.