VLM2Vec: Training Vision-Language Models for Massive Multimodal Embedding Tasks

Embedding models have been crucial in enabling various downstream tasks such as semantic similarity, information retrieval, and clustering. Recently, there has been a surge of interest in developing universal text embedding models that can generalize across tasks (e.g., MTEB). However, progress in learning universal multimodal embedding models has been relatively slow despite their importance. In this work, we aim to explore the potential for building universal embeddings capable of handling a wide range of downstream tasks. Our contributions are twofold: (1) MMEB (Massive Multimodal Embedding Benchmark), which covers 4 meta-tasks (i.e. classification, visual question answering, multimodal retrieval, and visual grounding) and 36 datasets, including 20 training and 16 evaluation datasets, and (2) VLM2Vec (Vision-Language Model -> Vector), a contrastive training framework that converts any state-of-the-art vision-language model into an embedding model via training on MMEB. Unlike previous models such as CLIP and BLIP, VLM2Vec can process any combination of images and text to generate a fixed-dimensional vector based on task instructions. We build a series of VLM2Vec models on Phi-3.5-V and evaluate them on MMEB's evaluation split. Our results show that \model achieves an absolute average improvement of 10% to 20% over existing multimodal embedding models on both in-distribution and out-of-distribution datasets in MMEB.

ReGenesis: LLMs can Grow into Reasoning Generalists via Self-Improvement

Post-training Large Language Models (LLMs) with explicit reasoning trajectories can enhance their reasoning abilities. However, acquiring such high-quality trajectory data typically demands meticulous supervision from humans or superior models, which can be either expensive or license-constrained. In this paper, we explore how far an LLM can improve its reasoning by self-synthesizing reasoning paths as training data without any additional supervision. Existing self-synthesizing methods, such as STaR, suffer from poor generalization to out-of-domain (OOD) reasoning tasks. We hypothesize it is due to that their self-synthesized reasoning paths are too task-specific, lacking general task-agnostic reasoning guidance. To address this, we propose Reasoning Generalist via Self-Improvement (ReGenesis), a method to self-synthesize reasoning paths as post-training data by progressing from abstract to concrete. More specifically, ReGenesis self-synthesizes reasoning paths by converting general reasoning guidelines into task-specific ones, generating reasoning structures, and subsequently transforming these structures into reasoning paths, without the need for human-designed task-specific examples used in existing methods. We show that ReGenesis achieves superior performance on all in-domain and OOD settings tested compared to existing methods. For six OOD tasks specifically, while previous methods exhibited an average performance decrease of approximately 4.6% after post training, ReGenesis delivers around 6.1% performance improvement. We also conduct in-depth analysis of our framework and show ReGenesis is effective across various LLMs and design choices.

Multi-UAV Pursuit-Evasion with Online Planning in Unknown Environments by Deep Reinforcement Learning

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based approaches remain constrained to simplified simulations with limited dynamics or fixed scenarios. Previous attempts to deploy RL policy to real-world pursuit-evasion are largely restricted to two-dimensional scenarios, such as ground vehicles or UAVs at fixed altitudes. In this paper, we address multi-UAV pursuit-evasion by considering UAV dynamics and physical constraints. We introduce an evader prediction-enhanced network to tackle partial observability in cooperative strategy learning. Additionally, we propose an adaptive environment generator within MARL training, enabling higher exploration efficiency and better policy generalization across diverse scenarios. Simulations show our method significantly outperforms all baselines in challenging scenarios, generalizing to unseen scenarios with a 100% capture rate. Finally, we derive a feasible policy via a two-stage reward refinement and deploy the policy on real quadrotors in a zero-shot manner. To our knowledge, this is the first work to derive and deploy an RL-based policy using collective thrust and body rates control commands for multi-UAV pursuit-evasion in unknown environments. The open-source code and videos are available at https://sites.google.com/view/pursuit-evasion-rl.

Rotatable Block-Controlled RIS: Bridging the Performance Gap to Element-Controlled Systems

The passive reconfigurable intelligent surface (RIS) requires numerous elements to achieve adequate array gain, which linearly increases power consumption (PC) with the number of reflection phases. To address this, this letter introduces a rotatable block-controlled RIS (BC-RIS) that preserves spectral efficiency (SE) while reducing power costs. Unlike the element-controlled RIS (EC-RIS), which necessitates independent phase control for each element, the BC-RIS uses a single phase control circuit for each block, substantially lowering power requirements. In the maximum ratio transmission, by customizing specular reflection channels through the rotation of blocks and coherently superimposing signals with optimized reflection phase of blocks, the BC-RIS achieves the same averaged SE as the EC-RIS. To counteract the added power demands from rotation, influenced by block size, we have developed a segmentation scheme to minimize overall PC. Furthermore, constraints for rotation power-related parameters have been established to enhance the energy efficiency of the BC-RIS compared to the EC-RIS. Numerical results confirm that this approach significantly improves energy efficiency while maintaining performance.

CityLight: A Universal Model Towards Real-world City-scale Traffic Signal Control Coordination

Traffic signal control (TSC) is a promising low-cost measure to enhance transportation efficiency without affecting existing road infrastructure. While various reinforcement learning-based TSC methods have been proposed and experimentally outperform conventional rule-based methods, none of them has been deployed in the real world. An essential gap lies in the oversimplification of the scenarios in terms of intersection heterogeneity and road network intricacy. To make TSC applicable in urban traffic management, we target TSC coordination in city-scale high-authenticity road networks, aiming to solve the three unique and important challenges: city-level scalability, heterogeneity of real-world intersections, and effective coordination among intricate neighbor connections. Since optimizing multiple agents in a parameter-sharing paradigm can boost the training efficiency and help achieve scalability, we propose our method, CityLight, based on the well-acknowledged optimization framework, parameter-sharing MAPPO. To ensure the unified policy network can learn to fit large-scale heterogeneous intersections and tackle the intricate between-neighbor coordination, CityLight proposes a universal representation module that consists of two key designs: heterogeneous intersection alignment and neighborhood impact alignment for coordination. To further boost coordination, CityLight adopts neighborhood-integrated rewards to transition from achieving local optimal to global optimal. Extensive experiments on datasets with hundreds to tens of thousands of real-world intersections and authentic traffic demands validate the surprising effectiveness and generalizability of CityLight, with an overall performance gain of 11.66% and a 22.59% improvement in transfer scenarios in terms of throughput.

Prefix Text as a Yarn: Eliciting Non-English Alignment in Foundation Language Model

While supervised fine-tuning (SFT) has been a straightforward approach for tailoring the output of foundation large language model (LLM) to specific preferences, concerns have been raised about the depth of this alignment, with some critiques suggesting it is merely "superficial". We critically examine this hypothesis within the scope of cross-lingual generation tasks, proposing that the effectiveness of SFT may be constrained by its reliance on prior tokens to guide cross-lingual generation. Based on this crucial insight, and in response to the challenges posed by the costly and limited availability of non-English data for SFT, we introduce a novel training-free alignment method named PreTTY, which employs minimal task-related prior tokens to bridge the foundation LLM and the SFT LLM, achieving comparable performance without training. Experiments on machine translation and part-of-speech tagging across eight languages demonstrate the efficacy of PreTTY in cross-lingual settings. Remarkably, by initiating the decoding process with only one or two prior tokens, foundation LLMs can achieve performance comparable to their SFT counterparts. This method presents a cost-effective alternative to SFT and advances the democratization of multilingual LLMs.

FOFO: A Benchmark to Evaluate LLMs' Format-Following Capability

This paper presents FoFo, a pioneering benchmark for evaluating large language models' (LLMs) ability to follow complex, domain-specific formats, a crucial yet underexamined capability for their application as AI agents. Despite LLMs' advancements, existing benchmarks fail to assess their format-following proficiency adequately. FoFo fills this gap with a diverse range of real-world formats and instructions, developed through an AI-Human collaborative method. Our evaluation across both open-source (e.g., Llama 2, WizardLM) and closed-source (e.g., GPT-4, PALM2, Gemini) LLMs highlights three key findings: open-source models significantly lag behind closed-source ones in format adherence; LLMs' format-following performance is independent of their content generation quality; and LLMs' format proficiency varies across different domains. These insights suggest the need for specialized tuning for format-following skills and highlight FoFo's role in guiding the selection of domain-specific AI agents. FoFo is released here at https://github.com/SalesforceAIResearch/FoFo.

TaskFlex Solver for Multi-Agent Pursuit via Automatic Curriculum Learning

This paper addresses the problem of multi-agent pursuit, where slow pursuers cooperate to capture fast evaders in a confined environment with obstacles. Existing heuristic algorithms often lack expressive coordination strategies and are highly sensitive to task conditions, requiring extensive hyperparameter tuning. In contrast, reinforcement learning (RL) has been applied to this problem and is capable of obtaining cooperative pursuit strategies. However, RL-based methods face challenges in training for complex scenarios due to the vast amount of training data and limited adaptability to varying task conditions, such as different scene sizes, varying numbers and speeds of obstacles, and flexible speed ratios of the evader to the pursuer. In this work, we combine RL and curriculum learning to introduce a flexible solver for multiagent pursuit problems, named TaskFlex Solver (TFS), which is capable of solving multi-agent pursuit problems with diverse and dynamically changing task conditions in both 2-dimensional and 3-dimensional scenarios. TFS utilizes a curriculum learning method that constructs task distributions based on training progress, enhancing training efficiency and final performance. Our algorithm consists of two main components: the Task Evaluator, which evaluates task success rates and selects tasks of moderate difficulty to maintain a curriculum archive, and the Task Sampler, which constructs training distributions by sampling tasks from the curriculum archive to maximize policy improvement. Experiments show that TFS produces much stronger performance than baselines and achieves close to 100% capture rates in both 2-dimensional and 3-dimensional multi-agent pursuit problems with diverse and dynamically changing scenes. The project website is at https://sites.google.com/view/tfs-2023.

MASP: Scalable GNN-based Planning for Multi-Agent Navigation

We investigate the problem of decentralized multi-agent navigation tasks, where multiple agents need to reach initially unassigned targets in a limited time. Classical planning-based methods suffer from expensive computation overhead at each step and offer limited expressiveness for complex cooperation strategies. In contrast, reinforcement learning (RL) has recently become a popular paradigm for addressing this issue. However, RL struggles with low data efficiency and cooperation when directly exploring (nearly) optimal policies in the large search space, especially with an increased agent number (e.g., 10+ agents) or in complex environments (e.g., 3D simulators). In this paper, we propose Multi-Agent Scalable GNN-based P lanner (MASP), a goal-conditioned hierarchical planner for navigation tasks with a substantial number of agents. MASP adopts a hierarchical framework to divide a large search space into multiple smaller spaces, thereby reducing the space complexity and accelerating training convergence. We also leverage graph neural networks (GNN) to model the interaction between agents and goals, improving goal achievement. Besides, to enhance generalization capabilities in scenarios with unseen team sizes, we divide agents into multiple groups, each with a previously trained number of agents. The results demonstrate that MASP outperforms classical planning-based competitors and RL baselines, achieving a nearly 100% success rate with minimal training data in both multi-agent particle environments (MPE) with 50 agents and a quadrotor 3-dimensional environment (OmniDrones) with 20 agents. Furthermore, the learned policy showcases zero-shot generalization across unseen team sizes.

Active Neural Topological Mapping for Multi-Agent Exploration

This paper investigates the multi-agent cooperative exploration problem, which requires multiple agents to explore an unseen environment via sensory signals in a limited time. A popular approach to exploration tasks is to combine active mapping with planning. Metric maps capture the details of the spatial representation, but are with high communication traffic and may vary significantly between scenarios, resulting in inferior generalization. Topological maps are a promising alternative as they consist only of nodes and edges with abstract but essential information and are less influenced by the scene structures. However, most existing topology-based exploration tasks utilize classical methods for planning, which are time-consuming and sub-optimal due to their handcrafted design. Deep reinforcement learning (DRL) has shown great potential for learning (near) optimal policies through fast end-to-end inference. In this paper, we propose Multi-Agent Neural Topological Mapping (MANTM) to improve exploration efficiency and generalization for multi-agent exploration tasks. MANTM mainly comprises a Topological Mapper and a novel RL-based Hierarchical Topological Planner (HTP). The Topological Mapper employs a visual encoder and distance-based heuristics to construct a graph containing main nodes and their corresponding ghost nodes. The HTP leverages graph neural networks to capture correlations between agents and graph nodes in a coarse-to-fine manner for effective global goal selection. Extensive experiments conducted in a physically-realistic simulator, Habitat, demonstrate that MANTM reduces the steps by at least 26.40% over planning-based baselines and by at least 7.63% over RL-based competitors in unseen scenarios.