MuSR: Testing the Limits of Chain-of-thought with Multistep Soft Reasoning

While large language models (LLMs) equipped with techniques like chain-of-thought prompting have demonstrated impressive capabilities, they still fall short in their ability to reason robustly in complex settings. However, evaluating LLM reasoning is challenging because system capabilities continue to grow while benchmark datasets for tasks like logical deduction have remained static. We introduce MuSR, a dataset for evaluating language models on multistep soft reasoning tasks specified in a natural language narrative. This dataset has two crucial features. First, it is created through a novel neurosymbolic synthetic-to-natural generation algorithm, enabling the construction of complex reasoning instances that challenge GPT-4 (e.g., murder mysteries roughly 1000 words in length) and which can be scaled further as more capable LLMs are released. Second, our dataset instances are free text narratives corresponding to real-world domains of reasoning; this makes it simultaneously much more challenging than other synthetically-crafted benchmarks while remaining realistic and tractable for human annotators to solve with high accuracy. We evaluate a range of LLMs and prompting techniques on this dataset and characterize the gaps that remain for techniques like chain-of-thought to perform robust reasoning.

Deductive Additivity for Planning of Natural Language Proofs

Current natural language systems designed for multi-step claim validation typically operate in two phases: retrieve a set of relevant premise statements using heuristics (planning), then generate novel conclusions from those statements using a large language model (deduction). The planning step often requires expensive Transformer operations and does not scale to arbitrary numbers of premise statements. In this paper, we investigate whether an efficient planning heuristic is possible via embedding spaces compatible with deductive reasoning. Specifically, we evaluate whether embedding spaces exhibit a property we call deductive additivity: the sum of premise statement embeddings should be close to embeddings of conclusions based on those premises. We explore multiple sources of off-the-shelf dense embeddings in addition to fine-tuned embeddings from GPT3 and sparse embeddings from BM25. We study embedding models both intrinsically, evaluating whether the property of deductive additivity holds, and extrinsically, using them to assist planning in natural language proof generation. Lastly, we create a dataset, Single-Step Reasoning Contrast (SSRC), to further probe performance on various reasoning types. Our findings suggest that while standard embedding methods frequently embed conclusions near the sums of their premises, they fall short of being effective heuristics and lack the ability to model certain categories of reasoning.

Natural Language Deduction with Incomplete Information

A growing body of work studies how to answer a question or verify a claim by generating a natural language "proof": a chain of deductive inferences yielding the answer based on a set of premises. However, these methods can only make sound deductions when they follow from evidence that is given. We propose a new system that can handle the underspecified setting where not all premises are stated at the outset; that is, additional assumptions need to be materialized to prove a claim. By using a natural language generation model to abductively infer a premise given another premise and a conclusion, we can impute missing pieces of evidence needed for the conclusion to be true. Our system searches over two fringes in a bidirectional fashion, interleaving deductive (forward-chaining) and abductive (backward-chaining) generation steps. We sample multiple possible outputs for each step to achieve coverage of the search space, at the same time ensuring correctness by filtering low-quality generations with a round-trip validation procedure. Results on a modified version of the EntailmentBank dataset and a new dataset called Everyday Norms: Why Not? show that abductive generation with validation can recover premises across in- and out-of-domain settings

Decentralized Social Navigation with Non-Cooperative Robots via Bi-Level Optimization

This paper presents a fully decentralized approach for realtime non-cooperative multi-robot navigation in social mini-games, such as navigating through a narrow doorway or negotiating right of way at a corridor intersection. Our contribution is a new realtime bi-level optimization algorithm, in which the top-level optimization consists of computing a fair and collision-free ordering followed by the bottom-level optimization which plans optimal trajectories conditioned on the ordering. We show that, given such a priority order, we can impose simple kinodynamic constraints on each robot that are sufficient for it to plan collision-free trajectories with minimal deviation from their preferred velocities, similar to how humans navigate in these scenarios. We successfully deploy the proposed algorithm in the real world using F$1/10$ robots, a Clearpath Jackal, and a Boston Dynamics Spot as well as in simulation using the SocialGym 2.0 multi-agent social navigation simulator, in the doorway and corridor intersection scenarios. We compare with state-of-the-art social navigation methods using multi-agent reinforcement learning, collision avoidance algorithms, and crowd simulation models. We show that $(i)$ classical navigation performs $44\%$ better than the state-of-the-art learning-based social navigation algorithms, $(ii)$ without a scheduling protocol, our approach results in collisions in social mini-games $(iii)$ our approach yields $2\times$ and $5\times$ fewer velocity changes than CADRL in doorways and intersections, and finally $(iv)$ bi-level navigation in doorways at a flow rate of $2.8 - 3.3$ (ms)$^{-1}$ is comparable to flow rate in human navigation at a flow rate of $4$ (ms)$^{-1}$.

SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces

We present SocialGym 2, a multi-agent navigation simulator for social robot research. Our simulator models multiple autonomous agents, replicating real-world dynamics in complex environments, including doorways, hallways, intersections, and roundabouts. Unlike traditional simulators that concentrate on single robots with basic kinematic constraints in open spaces, SocialGym 2 employs multi-agent reinforcement learning (MARL) to develop optimal navigation policies for multiple robots with diverse, dynamic constraints in complex environments. Built on the PettingZoo MARL library and Stable Baselines3 API, SocialGym 2 offers an accessible python interface that integrates with a navigation stack through ROS messaging. SocialGym 2 can be easily installed and is packaged in a docker container, and it provides the capability to swap and evaluate different MARL algorithms, as well as customize observation and reward functions. We also provide scripts to allow users to create their own environments and have conducted benchmarks using various social navigation algorithms, reporting a broad range of social navigation metrics. Projected hosted at: https://amrl.cs.utexas.edu/social_gym/index.html

Natural Language Deduction through Search over Statement Compositions

In settings from fact-checking to question answering, we frequently want to know whether a collection of evidence entails a hypothesis. Existing methods primarily focus on end-to-end discriminative versions of this task, but less work has treated the generative version in which a model searches over the space of entailed statements to derive the hypothesis. We propose a system for natural language deduction that decomposes the task into separate steps coordinated by best-first search, producing a tree of intermediate conclusions that faithfully reflects the system's reasoning process. Our experiments demonstrate that the proposed system can better distinguish verifiable hypotheses from unverifiable ones and produce natural language explanations that are more internally consistent than those produced by an end-to-end T5 model.