Online LLM watermark detection via e-processes

Watermarking for large language models (LLMs) has emerged as an effective tool for distinguishing AI-generated text from human-written content. Statistically, watermark schemes induce dependence between generated tokens and a pseudo-random sequence, reducing watermark detection to a hypothesis testing problem on independence. We develop a unified framework for LLM watermark detection based on e-processes, providing anytime-valid guarantees for online testing. We propose various methods to construct empirically adaptive e-processes that can enhance the detection power. In addition, theoretical results are established to characterize the power properties of the proposed procedures. Some experiments demonstrate that the proposed framework achieves competitive performance compared to existing watermark detection methods.

LLM-based Robot Task Planning with Exceptional Handling for General Purpose Service Robots

The development of a general purpose service robot for daily life necessitates the robot's ability to deploy a myriad of fundamental behaviors judiciously. Recent advancements in training Large Language Models (LLMs) can be used to generate action sequences directly, given an instruction in natural language with no additional domain information. However, while the outputs of LLMs are semantically correct, the generated task plans may not accurately map to acceptable actions and might encompass various linguistic ambiguities. LLM hallucinations pose another challenge for robot task planning, which results in content that is inconsistent with real-world facts or user inputs. In this paper, we propose a task planning method based on a constrained LLM prompt scheme, which can generate an executable action sequence from a command. An exceptional handling module is further proposed to deal with LLM hallucinations problem. This module can ensure the LLM-generated results are admissible in the current environment. We evaluate our method on the commands generated by the RoboCup@Home Command Generator, observing that the robot demonstrates exceptional performance in both comprehending instructions and executing tasks.