Daily Papers

Large Language Models (LLMs) have transformed NLP with their remarkable In-context Learning (ICL) capabilities. Automated assistants based on LLMs are gaining popularity; however, adapting them to novel tasks is still challenging. While colossal models excel in zero-shot performance, their computational demands limit widespread use, and smaller language models struggle without context. This paper investigates whether LLMs can generalize from labeled examples of predefined tasks to novel tasks. Drawing inspiration from biological neurons and the mechanistic interpretation of the Transformer architecture, we explore the potential for information sharing across tasks. We design a cross-task prompting setup with three LLMs and show that LLMs achieve significant performance improvements despite no examples from the target task in the context. Cross-task prompting leads to a remarkable performance boost of 107% for LLaMA-2 7B, 18.6% for LLaMA-2 13B, and 3.2% for GPT 3.5 on average over zero-shot prompting, and performs comparable to standard in-context learning. The effectiveness of generating pseudo-labels for in-task examples is demonstrated, and our analyses reveal a strong correlation between the effect of cross-task examples and model activation similarities in source and target input tokens. This paper offers a first-of-its-kind exploration of LLMs' ability to solve novel tasks based on contextual signals from different task examples.

Video-to-video editing involves editing a source video along with additional control (such as text prompts, subjects, or styles) to generate a new video that aligns with the source video and the provided control. Traditional methods have been constrained to certain editing types, limiting their ability to meet the wide range of user demands. In this paper, we introduce AnyV2V, a novel training-free framework designed to simplify video editing into two primary steps: (1) employing an off-the-shelf image editing model (e.g. InstructPix2Pix, InstantID, etc) to modify the first frame, (2) utilizing an existing image-to-video generation model (e.g. I2VGen-XL) for DDIM inversion and feature injection. In the first stage, AnyV2V can plug in any existing image editing tools to support an extensive array of video editing tasks. Beyond the traditional prompt-based editing methods, AnyV2V also can support novel video editing tasks, including reference-based style transfer, subject-driven editing, and identity manipulation, which were unattainable by previous methods. In the second stage, AnyV2V can plug in any existing image-to-video models to perform DDIM inversion and intermediate feature injection to maintain the appearance and motion consistency with the source video. On the prompt-based editing, we show that AnyV2V can outperform the previous best approach by 35\% on prompt alignment, and 25\% on human preference. On the three novel tasks, we show that AnyV2V also achieves a high success rate. We believe AnyV2V will continue to thrive due to its ability to seamlessly integrate the fast-evolving image editing methods. Such compatibility can help AnyV2V to increase its versatility to cater to diverse user demands.

Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control tasks. They are often specialized, and the tasks they address are rarely extendable or customizable. We categorize these as solutions to the close-set motion control problem. In response to the complexity of practical motion control, we propose and attempt to solve the open-set motion control problem. This problem is characterized by an open and fully customizable set of motion control tasks. To address this, we introduce a new paradigm, programmable motion generation. In this paradigm, any given motion control task is broken down into a combination of atomic constraints. These constraints are then programmed into an error function that quantifies the degree to which a motion sequence adheres to them. We utilize a pre-trained motion generation model and optimize its latent code to minimize the error function of the generated motion. Consequently, the generated motion not only inherits the prior of the generative model but also satisfies the required constraints. Experiments show that we can generate high-quality motions when addressing a wide range of unseen tasks. These tasks encompass motion control by motion dynamics, geometric constraints, physical laws, interactions with scenes, objects or the character own body parts, etc. All of these are achieved in a unified approach, without the need for ad-hoc paired training data collection or specialized network designs. During the programming of novel tasks, we observed the emergence of new skills beyond those of the prior model. With the assistance of large language models, we also achieved automatic programming. We hope that this work will pave the way for the motion control of general AI agents.

How can robot manipulation policies generalize to novel tasks involving unseen object types and new motions? In this paper, we provide a solution in terms of predicting motion information from web data through human video generation and conditioning a robot policy on the generated video. Instead of attempting to scale robot data collection which is expensive, we show how we can leverage video generation models trained on easily available web data, for enabling generalization. Our approach Gen2Act casts language-conditioned manipulation as zero-shot human video generation followed by execution with a single policy conditioned on the generated video. To train the policy, we use an order of magnitude less robot interaction data compared to what the video prediction model was trained on. Gen2Act doesn't require fine-tuning the video model at all and we directly use a pre-trained model for generating human videos. Our results on diverse real-world scenarios show how Gen2Act enables manipulating unseen object types and performing novel motions for tasks not present in the robot data. Videos are at https://homangab.github.io/gen2act/

Computer Vision (CV) has yet to fully achieve the zero-shot task generalization observed in Natural Language Processing (NLP), despite following many of the milestones established in NLP, such as large transformer models, extensive pre-training, and the auto-regression paradigm, among others. In this paper, we explore the idea that CV adopts discrete and terminological task definitions (\eg, ``image segmentation''), which may be a key barrier to zero-shot task generalization. Our hypothesis is that without truly understanding previously-seen tasks--due to these terminological definitions--deep models struggle to generalize to novel tasks. To verify this, we introduce Explanatory Instructions, which provide an intuitive way to define CV task objectives through detailed linguistic transformations from input images to outputs. We create a large-scale dataset comprising 12 million ``image input to explanatory instruction to output'' triplets, and train an auto-regressive-based vision-language model (AR-based VLM) that takes both images and explanatory instructions as input. By learning to follow these instructions, the AR-based VLM achieves instruction-level zero-shot capabilities for previously-seen tasks and demonstrates strong zero-shot generalization for unseen CV tasks. Code and dataset will be openly available on our GitHub repository.

Collecting large amounts of real-world interaction data to train general robotic policies is often prohibitively expensive, thus motivating the use of simulation data. However, existing methods for data generation have generally focused on scene-level diversity (e.g., object instances and poses) rather than task-level diversity, due to the human effort required to come up with and verify novel tasks. This has made it challenging for policies trained on simulation data to demonstrate significant task-level generalization. In this paper, we propose to automatically generate rich simulation environments and expert demonstrations by exploiting a large language models' (LLM) grounding and coding ability. Our approach, dubbed GenSim, has two modes: goal-directed generation, wherein a target task is given to the LLM and the LLM proposes a task curriculum to solve the target task, and exploratory generation, wherein the LLM bootstraps from previous tasks and iteratively proposes novel tasks that would be helpful in solving more complex tasks. We use GPT4 to expand the existing benchmark by ten times to over 100 tasks, on which we conduct supervised finetuning and evaluate several LLMs including finetuned GPTs and Code Llama on code generation for robotic simulation tasks. Furthermore, we observe that LLMs-generated simulation programs can enhance task-level generalization significantly when used for multitask policy training. We further find that with minimal sim-to-real adaptation, the multitask policies pretrained on GPT4-generated simulation tasks exhibit stronger transfer to unseen long-horizon tasks in the real world and outperform baselines by 25%. See the project website (https://liruiw.github.io/gensim) for code, demos, and videos.

Small LLMs often struggle to match the agentic capabilities of large, costly models. While reinforcement learning can help, progress has been limited by two structural bottlenecks: existing open-source agentic training data are narrow in task variety and easily solved; real-world APIs lack diversity and are unstable for large-scale reinforcement learning rollout processes. We address these challenges with SYNTHAGENT, a framework that jointly synthesizes diverse tool-use training data and simulates complete environments. Specifically, a strong teacher model creates novel tasks and tool ecosystems, then rewrites them into intentionally underspecified instructions. This compels agents to actively query users for missing details. When handling synthetic tasks, an LLM-based user simulator provides user-private information, while a mock tool system delivers stable tool responses. For rewards, task-level rubrics are constructed based on required subgoals, user-agent interactions, and forbidden behaviors. Across 14 challenging datasets in math, search, and tool use, models trained on our synthetic data achieve substantial gains, with small models outperforming larger baselines.

Learning with few labeled tabular samples is often an essential requirement for industrial machine learning applications as varieties of tabular data suffer from high annotation costs or have difficulties in collecting new samples for novel tasks. Despite the utter importance, such a problem is quite under-explored in the field of tabular learning, and existing few-shot learning schemes from other domains are not straightforward to apply, mainly due to the heterogeneous characteristics of tabular data. In this paper, we propose a simple yet effective framework for few-shot semi-supervised tabular learning, coined Self-generated Tasks from UNlabeled Tables (STUNT). Our key idea is to self-generate diverse few-shot tasks by treating randomly chosen columns as a target label. We then employ a meta-learning scheme to learn generalizable knowledge with the constructed tasks. Moreover, we introduce an unsupervised validation scheme for hyperparameter search (and early stopping) by generating a pseudo-validation set using STUNT from unlabeled data. Our experimental results demonstrate that our simple framework brings significant performance gain under various tabular few-shot learning benchmarks, compared to prior semi- and self-supervised baselines. Code is available at https://github.com/jaehyun513/STUNT.

The field of machine learning (ML) has gained widespread adoption, leading to a significant demand for adapting ML to specific scenarios, which is yet expensive and non-trivial. The predominant approaches towards the automation of solving ML tasks (e.g., AutoML) are often time consuming and hard to understand for human developers. In contrast, though human engineers have the incredible ability to understand tasks and reason about solutions, their experience and knowledge are often sparse and difficult to utilize by quantitative approaches. In this paper, we aim to bridge the gap between machine intelligence and human knowledge by introducing a novel framework MLCopilot, which leverages the state-of-the-art LLMs to develop ML solutions for novel tasks. We showcase the possibility of extending the capability of LLMs to comprehend structured inputs and perform thorough reasoning for solving novel ML tasks. And we find that, after some dedicated design, the LLM can (i) observe from the existing experiences of ML tasks and (ii) reason effectively to deliver promising results for new tasks. The solution generated can be used directly to achieve high levels of competitiveness.

Biological intelligence systems of animals perceive the world by integrating information in different modalities and processing simultaneously for various tasks. In contrast, current machine learning research follows a task-specific paradigm, leading to inefficient collaboration between tasks and high marginal costs of developing perception models for new tasks. In this paper, we present a generic perception architecture named Uni-Perceiver, which processes a variety of modalities and tasks with unified modeling and shared parameters. Specifically, Uni-Perceiver encodes different task inputs and targets from arbitrary modalities into a unified representation space with a modality-agnostic Transformer encoder and lightweight modality-specific tokenizers. Different perception tasks are modeled as the same formulation, that is, finding the maximum likelihood target for each input through the similarity of their representations. The model is pre-trained on several uni-modal and multi-modal tasks, and evaluated on a variety of downstream tasks, including novel tasks that did not appear in the pre-training stage. Results show that our pre-trained model without any tuning can achieve reasonable performance even on novel tasks. The performance can be improved to a level close to state-of-the-art methods by conducting prompt tuning on 1% of downstream task data. Full-data fine-tuning further delivers results on par with or better than state-of-the-art results. Code shall be released.

Multimodal AI has the potential to significantly enhance document-understanding tasks, such as processing receipts, understanding workflows, extracting data from documents, and summarizing reports. Code generation tasks that require long-structured outputs can also be enhanced by multimodality. Despite this, their use in commercial applications is often limited due to limited access to training data and restrictive licensing, which hinders open access. To address these limitations, we introduce BigDocs-7.5M, a high-quality, open-access dataset comprising 7.5 million multimodal documents across 30 tasks. We use an efficient data curation process to ensure our data is high-quality and license-permissive. Our process emphasizes accountability, responsibility, and transparency through filtering rules, traceable metadata, and careful content analysis. Additionally, we introduce BigDocs-Bench, a benchmark suite with 10 novel tasks where we create datasets that reflect real-world use cases involving reasoning over Graphical User Interfaces (GUI) and code generation from images. Our experiments show that training with BigDocs-Bench improves average performance up to 25.8% over closed-source GPT-4o in document reasoning and structured output tasks such as Screenshot2HTML or Image2Latex generation. Finally, human evaluations showed a preference for outputs from models trained on BigDocs over GPT-4o. This suggests that BigDocs can help both academics and the open-source community utilize and improve AI tools to enhance multimodal capabilities and document reasoning. The project is hosted at https://bigdocs.github.io .

Training generalist agents is difficult across several axes, requiring us to deal with high-dimensional inputs (space), long horizons (time), and generalization to novel tasks. Recent advances with architectures have allowed for improved scaling along one or two of these axes, but are still computationally prohibitive to use. In this paper, we propose to address all three axes by leveraging Language to Control Diffusion models as a hierarchical planner conditioned on language (LCD). We effectively and efficiently scale diffusion models for planning in extended temporal, state, and task dimensions to tackle long horizon control problems conditioned on natural language instructions, as a step towards generalist agents. Comparing LCD with other state-of-the-art models on the CALVIN language robotics benchmark finds that LCD outperforms other SOTA methods in multi-task success rates, whilst improving inference speed over other comparable diffusion models by 3.3x~15x. We show that LCD can successfully leverage the unique strength of diffusion models to produce coherent long range plans while addressing their weakness in generating low-level details and control.

Recent advances in large language models (LLMs) have accelerated progress in financial NLP and applications, yet existing benchmarks remain limited to monolingual and unimodal settings, often over-relying on simple tasks and failing to reflect the complexity of real-world financial communication. We introduce MultiFinBen, the first multilingual and multimodal benchmark tailored to the global financial domain, evaluating LLMs across modalities (text, vision, audio) and linguistic settings (monolingual, bilingual, multilingual) on domain-specific tasks. We introduce two novel tasks, including PolyFiQA-Easy and PolyFiQA-Expert, the first multilingual financial benchmarks requiring models to perform complex reasoning over mixed-language inputs; and EnglishOCR and SpanishOCR, the first OCR-embedded financial QA tasks challenging models to extract and reason over information from visual-text financial documents. Moreover, we propose a dynamic, difficulty-aware selection mechanism and curate a compact, balanced benchmark rather than simple aggregation existing datasets. Extensive evaluation of 22 state-of-the-art models reveals that even the strongest models, despite their general multimodal and multilingual capabilities, struggle dramatically when faced with complex cross-lingual and multimodal tasks in financial domain. MultiFinBen is publicly released to foster transparent, reproducible, and inclusive progress in financial studies and applications.

Existing MLLM benchmarks face significant challenges in evaluating Unified MLLMs (U-MLLMs) due to: 1) lack of standardized benchmarks for traditional tasks, leading to inconsistent comparisons; 2) absence of benchmarks for mixed-modality generation, which fails to assess multimodal reasoning capabilities. We present a comprehensive evaluation framework designed to systematically assess U-MLLMs. Our benchmark includes: Standardized Traditional Task Evaluation. We sample from 12 datasets, covering 10 tasks with 30 subtasks, ensuring consistent and fair comparisons across studies." 2. Unified Task Assessment. We introduce five novel tasks testing multimodal reasoning, including image editing, commonsense QA with image generation, and geometric reasoning. 3. Comprehensive Model Benchmarking. We evaluate 12 leading U-MLLMs, such as Janus-Pro, EMU3, VILA-U, and Gemini2-flash, alongside specialized understanding (e.g., Claude-3.5-Sonnet) and generation models (e.g., DALL-E-3). Our findings reveal substantial performance gaps in existing U-MLLMs, highlighting the need for more robust models capable of handling mixed-modality tasks effectively. The code and evaluation data can be found in https://mme-unify.github.io/.

Subject-driven image generation aims at generating images containing customized subjects, which has recently drawn enormous attention from the research community. However, the previous works cannot precisely control the background and position of the target subject. In this work, we aspire to fill the void and propose two novel subject-driven sub-tasks, i.e., Subject Replacement and Subject Addition. The new tasks are challenging in multiple aspects: replacing a subject with a customized one can change its shape, texture, and color, while adding a target subject to a designated position in a provided scene necessitates a context-aware posture. To conquer these two novel tasks, we first manually curate a new dataset DreamEditBench containing 22 different types of subjects, and 440 source images with different difficulty levels. We plan to host DreamEditBench as a platform and hire trained evaluators for standard human evaluation. We also devise an innovative method DreamEditor to resolve these tasks by performing iterative generation, which enables a smooth adaptation to the customized subject. In this project, we conduct automatic and human evaluations to understand the performance of DreamEditor and baselines on DreamEditBench. For Subject Replacement, we found that the existing models are sensitive to the shape and color of the original subject. The model failure rate will dramatically increase when the source and target subjects are highly different. For Subject Addition, we found that the existing models cannot easily blend the customized subjects into the background smoothly, leading to noticeable artifacts in the generated image. We hope DreamEditBench can become a standard platform to enable future investigations toward building more controllable subject-driven image editing. Our project homepage is https://dreameditbenchteam.github.io/.

A key frontier for Multimodal Large Language Models (MLLMs) is the ability to perform deep mathematical and spatial reasoning directly from images, moving beyond their established success in semantic description. Mathematical surface plots provide a rigorous testbed for this capability, as they isolate the task of reasoning from the semantic noise common in natural images. To measure progress on this frontier, we introduce MaRVL-QA (Mathematical Reasoning over Visual Landscapes), a new benchmark designed to quantitatively evaluate these core reasoning skills. The benchmark comprises two novel tasks: Topological Counting, identifying and enumerating features like local maxima; and Transformation Recognition, recognizing applied geometric transformations. Generated from a curated library of functions with rigorous ambiguity filtering, our evaluation on MaRVL-QA reveals that even state-of-the-art MLLMs struggle significantly, often resorting to superficial heuristics instead of robust spatial reasoning. MaRVL-QA provides a challenging new tool for the research community to measure progress, expose model limitations, and guide the development of MLLMs with more profound reasoning abilities.

The rapid development of large language models (LLMs), like ChatGPT, has resulted in the widespread presence of LLM-generated content on social media platforms, raising concerns about misinformation, data biases, and privacy violations, which can undermine trust in online discourse. While detecting LLM-generated content is crucial for mitigating these risks, current methods often focus on binary classification, failing to address the complexities of real-world scenarios like human-LLM collaboration. To move beyond binary classification and address these challenges, we propose a new paradigm for detecting LLM-generated content. This approach introduces two novel tasks: LLM Role Recognition (LLM-RR), a multi-class classification task that identifies specific roles of LLM in content generation, and LLM Influence Measurement (LLM-IM), a regression task that quantifies the extent of LLM involvement in content creation. To support these tasks, we propose LLMDetect, a benchmark designed to evaluate detectors' performance on these new tasks. LLMDetect includes the Hybrid News Detection Corpus (HNDC) for training detectors, as well as DetectEval, a comprehensive evaluation suite that considers five distinct cross-context variations and two multi-intensity variations within the same LLM role. This allows for a thorough assessment of detectors' generalization and robustness across diverse contexts. Our empirical validation of 10 baseline detection methods demonstrates that fine-tuned PLM-based models consistently outperform others on both tasks, while advanced LLMs face challenges in accurately detecting their own generated content. Our experimental results and analysis offer insights for developing more effective detection models for LLM-generated content. This research enhances the understanding of LLM-generated content and establishes a foundation for more nuanced detection methodologies.

Can objects that are not visible in an image -- but are in the vicinity of the camera -- be detected? This study introduces the novel tasks of 2D, 2.5D and 3D unobserved object detection for predicting the location of nearby objects that are occluded or lie outside the image frame. We adapt several state-of-the-art pre-trained generative models to address this task, including 2D and 3D diffusion models and vision-language models, and show that they can be used to infer the presence of objects that are not directly observed. To benchmark this task, we propose a suite of metrics that capture different aspects of performance. Our empirical evaluation on indoor scenes from the RealEstate10k and NYU Depth v2 datasets demonstrate results that motivate the use of generative models for the unobserved object detection task.

Generating human-object interactions (HOIs) is critical with the tremendous advances of digital avatars. Existing datasets are typically limited to humans interacting with a single object while neglecting the ubiquitous manipulation of multiple objects. Thus, we propose HIMO, a large-scale MoCap dataset of full-body human interacting with multiple objects, containing 3.3K 4D HOI sequences and 4.08M 3D HOI frames. We also annotate HIMO with detailed textual descriptions and temporal segments, benchmarking two novel tasks of HOI synthesis conditioned on either the whole text prompt or the segmented text prompts as fine-grained timeline control. To address these novel tasks, we propose a dual-branch conditional diffusion model with a mutual interaction module for HOI synthesis. Besides, an auto-regressive generation pipeline is also designed to obtain smooth transitions between HOI segments. Experimental results demonstrate the generalization ability to unseen object geometries and temporal compositions.

Spatial conditioning in pretrained text-to-image diffusion models has significantly improved fine-grained control over the structure of generated images. However, existing control adapters exhibit limited adaptability and incur high training costs when encountering novel spatial control conditions that differ substantially from the training tasks. To address this limitation, we propose Universal Few-Shot Control (UFC), a versatile few-shot control adapter capable of generalizing to novel spatial conditions. Given a few image-condition pairs of an unseen task and a query condition, UFC leverages the analogy between query and support conditions to construct task-specific control features, instantiated by a matching mechanism and an update on a small set of task-specific parameters. Experiments on six novel spatial control tasks show that UFC, fine-tuned with only 30 annotated examples of novel tasks, achieves fine-grained control consistent with the spatial conditions. Notably, when fine-tuned with 0.1% of the full training data, UFC achieves competitive performance with the fully supervised baselines in various control tasks. We also show that UFC is applicable agnostically to various diffusion backbones and demonstrate its effectiveness on both UNet and DiT architectures. Code is available at https://github.com/kietngt00/UFC.

Recently, natural language has been the primary medium for human-robot interaction. However, its inherent lack of spatial precision introduces challenges for robotic task definition such as ambiguity and verbosity. Moreover, in some public settings where quiet is required, such as libraries or hospitals, verbal communication with robots is inappropriate. To address these limitations, we introduce the Robotic Visual Instruction (RoVI), a novel paradigm to guide robotic tasks through an object-centric, hand-drawn symbolic representation. RoVI effectively encodes spatial-temporal information into human-interpretable visual instructions through 2D sketches, utilizing arrows, circles, colors, and numbers to direct 3D robotic manipulation. To enable robots to understand RoVI better and generate precise actions based on RoVI, we present Visual Instruction Embodied Workflow (VIEW), a pipeline formulated for RoVI-conditioned policies. This approach leverages Vision-Language Models (VLMs) to interpret RoVI inputs, decode spatial and temporal constraints from 2D pixel space via keypoint extraction, and then transform them into executable 3D action sequences. We additionally curate a specialized dataset of 15K instances to fine-tune small VLMs for edge deployment,enabling them to effectively learn RoVI capabilities. Our approach is rigorously validated across 11 novel tasks in both real and simulated environments, demonstrating significant generalization capability. Notably, VIEW achieves an 87.5% success rate in real-world scenarios involving unseen tasks that feature multi-step actions, with disturbances, and trajectory-following requirements. Project website: https://robotic-visual-instruction.github.io/

Human communication is inherently multimodal, involving a combination of verbal and non-verbal cues such as speech, facial expressions, and body gestures. Modeling these behaviors is essential for understanding human interaction and for creating virtual characters that can communicate naturally in applications like games, films, and virtual reality. However, existing motion generation models are typically limited to specific input modalities -- either speech, text, or motion data -- and cannot fully leverage the diversity of available data. In this paper, we propose a novel framework that unifies verbal and non-verbal language using multimodal language models for human motion understanding and generation. This model is flexible in taking text, speech, and motion or any combination of them as input. Coupled with our novel pre-training strategy, our model not only achieves state-of-the-art performance on co-speech gesture generation but also requires much less data for training. Our model also unlocks an array of novel tasks such as editable gesture generation and emotion prediction from motion. We believe unifying the verbal and non-verbal language of human motion is essential for real-world applications, and language models offer a powerful approach to achieving this goal. Project page: languageofmotion.github.io.

Large language models (LLMs) have shown impressive capabilities in real-world applications. The capability of in-context learning (ICL) allows us to adapt an LLM to downstream tasks by including input-label exemplars in the prompt without model fine-tuning. However, the quality of these exemplars in the prompt greatly impacts performance, highlighting the need for an effective automated exemplar selection method. Recent studies have explored retrieval-based approaches to select exemplars tailored to individual test queries, which can be undesirable due to extra test-time computation and an increased risk of data exposure. Moreover, existing methods fail to adequately account for the impact of exemplar ordering on the performance. On the other hand, the impact of the instruction, another essential component in the prompt given to the LLM, is often overlooked in existing exemplar selection methods. To address these challenges, we propose a novel method named EASE, which leverages the hidden embedding from a pre-trained language model to represent ordered sets of exemplars and uses a neural bandit algorithm to optimize the sets of exemplars while accounting for exemplar ordering. Our EASE can efficiently find an ordered set of exemplars that performs well for all test queries from a given task, thereby eliminating test-time computation. Importantly, EASE can be readily extended to jointly optimize both the exemplars and the instruction. Through extensive empirical evaluations (including novel tasks), we demonstrate the superiority of EASE over existing methods, and reveal practical insights about the impact of exemplar selection on ICL, which may be of independent interest. Our code is available at https://github.com/ZhaoxuanWu/EASE-Prompt-Optimization.

Light plays an important role in human well-being. However, most computer vision tasks treat pixels without considering their relationship to physical luminance. To address this shortcoming, we introduce the Laval Photometric Indoor HDR Dataset, the first large-scale photometrically calibrated dataset of high dynamic range 360{\deg} panoramas. Our key contribution is the calibration of an existing, uncalibrated HDR Dataset. We do so by accurately capturing RAW bracketed exposures simultaneously with a professional photometric measurement device (chroma meter) for multiple scenes across a variety of lighting conditions. Using the resulting measurements, we establish the calibration coefficients to be applied to the HDR images. The resulting dataset is a rich representation of indoor scenes which displays a wide range of illuminance and color, and varied types of light sources. We exploit the dataset to introduce three novel tasks, where: per-pixel luminance, per-pixel color and planar illuminance can be predicted from a single input image. Finally, we also capture another smaller photometric dataset with a commercial 360{\deg} camera, to experiment on generalization across cameras. We are optimistic that the release of our datasets and associated code will spark interest in physically accurate light estimation within the community. Dataset and code are available at https://lvsn.github.io/beyondthepixel/.

Large language models (LLMs) with decoder-only architectures demonstrate remarkable in-context learning (ICL) capabilities. This feature enables them to effectively handle both familiar and novel tasks by utilizing examples provided within their input context. Recognizing the potential of this capability, we propose leveraging the ICL feature in LLMs to enhance the process of text embedding generation. To this end, we introduce a novel model bge-en-icl, which employs few-shot examples to produce high-quality text embeddings. Our approach integrates task-related examples directly into the query side, resulting in significant improvements across various tasks. Additionally, we have investigated how to effectively utilize LLMs as embedding models, including various attention mechanisms, pooling methods, etc. Our findings suggest that retaining the original framework often yields the best results, underscoring that simplicity is best. Experimental results on the MTEB and AIR-Bench benchmarks demonstrate that our approach sets new state-of-the-art (SOTA) performance. Our model, code and dataset are freely available at https://github.com/FlagOpen/FlagEmbedding .

Building models that can be rapidly adapted to novel tasks using only a handful of annotated examples is an open challenge for multimodal machine learning research. We introduce Flamingo, a family of Visual Language Models (VLM) with this ability. We propose key architectural innovations to: (i) bridge powerful pretrained vision-only and language-only models, (ii) handle sequences of arbitrarily interleaved visual and textual data, and (iii) seamlessly ingest images or videos as inputs. Thanks to their flexibility, Flamingo models can be trained on large-scale multimodal web corpora containing arbitrarily interleaved text and images, which is key to endow them with in-context few-shot learning capabilities. We perform a thorough evaluation of our models, exploring and measuring their ability to rapidly adapt to a variety of image and video tasks. These include open-ended tasks such as visual question-answering, where the model is prompted with a question which it has to answer; captioning tasks, which evaluate the ability to describe a scene or an event; and close-ended tasks such as multiple-choice visual question-answering. For tasks lying anywhere on this spectrum, a single Flamingo model can achieve a new state of the art with few-shot learning, simply by prompting the model with task-specific examples. On numerous benchmarks, Flamingo outperforms models fine-tuned on thousands of times more task-specific data.

Large Language Models (LLMs) have shown enhanced capabilities of solving novel tasks by reasoning step-by-step known as Chain-of-Thought (CoT) reasoning; how can we instill the same capability of reasoning step-by-step on unseen tasks into LMs that possess less than <100B parameters? To address this question, we first introduce the CoT Collection, a new instruction-tuning dataset that augments 1.88 million CoT rationales across 1,060 tasks. We show that continually fine-tuning Flan-T5 (3B & 11B) with the CoT Collection enables the 3B & 11B LMs to perform CoT better on unseen tasks, leading to an improvement in the average zero-shot accuracy on 27 datasets of the BIG-Bench-Hard benchmark by +4.34% and +2.44%, respectively. Furthermore, we show that instruction tuning with CoT allows LMs to possess stronger few-shot learning capabilities, resulting in an improvement of +2.97% and +2.37% on 4 domain-specific tasks over Flan-T5 (3B & 11B), respectively. We make our CoT Collection data and our trained models publicly available at https://github.com/kaist-lklab/CoT-Collection.

We introduce Perception Encoder Audiovisual, PE-AV, a new family of encoders for audio and video understanding trained with scaled contrastive learning. Built on PE, PE-AV makes several key contributions to extend representations to audio, and natively support joint embeddings across audio-video, audio-text, and video-text modalities. PE-AV's unified cross-modal embeddings enable novel tasks such as speech retrieval, and set a new state of the art across standard audio and video benchmarks. We unlock this by building a strong audiovisual data engine that synthesizes high-quality captions for O(100M) audio-video pairs, enabling large-scale supervision consistent across modalities. Our audio data includes speech, music, and general sound effects-avoiding single-domain limitations common in prior work. We exploit ten pairwise contrastive objectives, showing that scaling cross-modality and caption-type pairs strengthens alignment and improves zero-shot performance. We further develop PE-A-Frame by fine-tuning PE-AV with frame-level contrastive objectives, enabling fine-grained audio-frame-to-text alignment for tasks such as sound event detection.

Pre-trained text-to-text transformers such as BART have achieved impressive performance across a range of NLP tasks. Recent study further shows that they can learn to generalize to novel tasks, by including task descriptions as part of the source sequence and training the model with (source, target) examples. At test time, these fine-tuned models can make inferences on new tasks using the new task descriptions as part of the input. However, this approach has potential limitations, as the model learns to solve individual (source, target) examples (i.e., at the instance level), instead of learning to solve tasks by taking all examples within a task as a whole (i.e., at the task level). To this end, we introduce Hypter, a framework that improves text-to-text transformer's generalization ability to unseen tasks by training a hypernetwork to generate task-specific, light-weight adapters from task descriptions. Experiments on ZEST dataset and a synthetic SQuAD dataset demonstrate that Hypter improves upon fine-tuning baselines. Notably, when using BART-Large as the main network, Hypter brings 11.3% comparative improvement on ZEST dataset.

Active learning (AL) has the potential to drastically reduce annotation costs in 3D biomedical image segmentation, where expert labeling of volumetric data is both time-consuming and expensive. Yet, existing AL methods are unable to consistently outperform improved random sampling baselines adapted to 3D data, leaving the field without a reliable solution. We introduce Class-stratified Scheduled Power Predictive Entropy (ClaSP PE), a simple and effective query strategy that addresses two key limitations of standard uncertainty-based AL methods: class imbalance and redundancy in early selections. ClaSP PE combines class-stratified querying to ensure coverage of underrepresented structures and log-scale power noising with a decaying schedule to enforce query diversity in early-stage AL and encourage exploitation later. In our evaluation on 24 experimental settings using four 3D biomedical datasets within the comprehensive nnActive benchmark, ClaSP PE is the only method that generally outperforms improved random baselines in terms of both segmentation quality with statistically significant gains, whilst remaining annotation efficient. Furthermore, we explicitly simulate the real-world application by testing our method on four previously unseen datasets without manual adaptation, where all experiment parameters are set according to predefined guidelines. The results confirm that ClaSP PE robustly generalizes to novel tasks without requiring dataset-specific tuning. Within the nnActive framework, we present compelling evidence that an AL method can consistently outperform random baselines adapted to 3D segmentation, in terms of both performance and annotation efficiency in a realistic, close-to-production scenario. Our open-source implementation and clear deployment guidelines make it readily applicable in practice. Code is at https://github.com/MIC-DKFZ/nnActive.

The ARC-AGI benchmark series serves as a critical measure of few-shot generalization on novel tasks, a core aspect of intelligence. The ARC Prize 2025 global competition targeted the newly released ARC-AGI-2 dataset, which features greater task complexity compared to its predecessor. The Kaggle competition attracted 1,455 teams and 15,154 entries, with the top score reaching 24% on the ARC-AGI-2 private evaluation set. Paper submissions nearly doubled year-over-year to 90 entries, reflecting the growing research interest in fluid intelligence and abstract reasoning. The defining theme of 2025 is the emergence of the refinement loop -- a per-task iterative program optimization loop guided by a feedback signal. Refinement loops come in a variety of forms, in particular evolutionary program synthesis approaches and application-layer refinements to commercial AI systems. Such refinement loops are also possible in weight space, as evidenced by zero-pretraining deep learning methods which are now achieving competitive performance with remarkably small networks (7M parameters). In parallel, four frontier AI labs (Anthropic, Google DeepMind, OpenAI, and xAI) reported ARC-AGI performance in public model cards in 2025, establishing ARC-AGI as an industry standard benchmark for AI reasoning. However, our analysis indicates that current frontier AI reasoning performance remains fundamentally constrained to knowledge coverage, giving rise to new forms of benchmark contamination. In this paper, we survey the top-performing methods, examine the role of refinement loops in AGI progress, discuss knowledge-dependent overfitting, and preview ARC-AGI-3, which introduces interactive reasoning challenges that require exploration, planning, memory, goal acquisition, and alignment capabilities.

New era has unlocked exciting possibilities for extending Large Language Models (LLMs) to tackle 3D vision-language tasks. However, most existing 3D multimodal LLMs (MLLMs) rely on compressing holistic 3D scene information or segmenting independent objects to perform these tasks, which limits their spatial awareness due to insufficient representation of the richness inherent in 3D scenes. To overcome these limitations, we propose Spatial 3D-LLM, a 3D MLLM specifically designed to enhance spatial awareness for 3D vision-language tasks by enriching the spatial embeddings of 3D scenes. Spatial 3D-LLM integrates an LLM backbone with a progressive spatial awareness scheme that progressively captures spatial information as the perception field expands, generating location-enriched 3D scene embeddings to serve as visual prompts. Furthermore, we introduce two novel tasks: 3D object distance measurement and 3D layout editing, and construct a 3D instruction dataset, MODEL, to evaluate the model's spatial awareness capabilities. Experimental results demonstrate that Spatial 3D-LLM achieves state-of-the-art performance across a wide range of 3D vision-language tasks, revealing the improvements stemmed from our progressive spatial awareness scheme of mining more profound spatial information. Our code is available at https://github.com/bjshuyuan/Spatial-3D-LLM.

Large Multimodal Models (LMMs) exhibit remarkable multi-tasking ability by learning mixed instruction datasets. However, novel tasks would be encountered sequentially in dynamic world, which urges for equipping LMMs with multimodal continual instruction learning (MCIT) ability especially for diverse and challenging generative tasks. Existing MCIT methods do not fully exploit the unique attribute of LMMs and often gain performance at the expense of efficiency. In this paper, we propose a novel prompt learning framework for MCIT to effectively alleviate forgetting of previous knowledge while managing computational complexity with natural image-text supervision. Concretely, we learn prompts for each task and exploit efficient prompt fusion for knowledge transfer and prompt selection for complexity management with dual-modality guidance. Extensive experiments demonstrate that our approach achieves substantial +14.26% performance gain on MCIT benchmarks with remarkable times 1.42 inference speed free from growing computation. Code is available at https://github.com/AuroraZengfh/ModalPrompt.

Generalizing language-conditioned robotic policies to new tasks remains a significant challenge, hampered by the lack of suitable simulation benchmarks. In this paper, we address this gap by introducing GemBench, a novel benchmark to assess generalization capabilities of vision-language robotic manipulation policies. GemBench incorporates seven general action primitives and four levels of generalization, spanning novel placements, rigid and articulated objects, and complex long-horizon tasks. We evaluate state-of-the-art approaches on GemBench and also introduce a new method. Our approach 3D-LOTUS leverages rich 3D information for action prediction conditioned on language. While 3D-LOTUS excels in both efficiency and performance on seen tasks, it struggles with novel tasks. To address this, we present 3D-LOTUS++, a framework that integrates 3D-LOTUS's motion planning capabilities with the task planning capabilities of LLMs and the object grounding accuracy of VLMs. 3D-LOTUS++ achieves state-of-the-art performance on novel tasks of GemBench, setting a new standard for generalization in robotic manipulation. The benchmark, codes and trained models are available at https://www.di.ens.fr/willow/research/gembench/.

Robots' ability to follow language instructions and execute diverse 3D tasks is vital in robot learning. Traditional imitation learning-based methods perform well on seen tasks but struggle with novel, unseen ones due to variability. Recent approaches leverage large foundation models to assist in understanding novel tasks, thereby mitigating this issue. However, these methods lack a task-specific learning process, which is essential for an accurate understanding of 3D environments, often leading to execution failures. In this paper, we introduce GravMAD, a sub-goal-driven, language-conditioned action diffusion framework that combines the strengths of imitation learning and foundation models. Our approach breaks tasks into sub-goals based on language instructions, allowing auxiliary guidance during both training and inference. During training, we introduce Sub-goal Keypose Discovery to identify key sub-goals from demonstrations. Inference differs from training, as there are no demonstrations available, so we use pre-trained foundation models to bridge the gap and identify sub-goals for the current task. In both phases, GravMaps are generated from sub-goals, providing flexible 3D spatial guidance compared to fixed 3D positions. Empirical evaluations on RLBench show that GravMAD significantly outperforms state-of-the-art methods, with a 28.63% improvement on novel tasks and a 13.36% gain on tasks encountered during training. These results demonstrate GravMAD's strong multi-task learning and generalization in 3D manipulation. Video demonstrations are available at: https://gravmad.github.io.

Large Language Models (LLMs) exhibit strong generalization capabilities to novel tasks when prompted with language instructions and in-context demos. Since this ability sensitively depends on the quality of prompts, various methods have been explored to automate the instruction design. While these methods demonstrated promising results, they also restricted the searched prompt to one instruction. Such simplification significantly limits their capacity, as a single demo-free instruction might not be able to cover the entire complex problem space of the targeted task. To alleviate this issue, we adopt the Mixture-of-Expert paradigm and divide the problem space into a set of sub-regions; Each sub-region is governed by a specialized expert, equipped with both an instruction and a set of demos. A two-phase process is developed to construct the specialized expert for each region: (1) demo assignment: Inspired by the theoretical connection between in-context learning and kernel regression, we group demos into experts based on their semantic similarity; (2) instruction assignment: A region-based joint search of an instruction per expert complements the demos assigned to it, yielding a synergistic effect. The resulting method, codenamed Mixture-of-Prompts (MoP), achieves an average win rate of 81% against prior arts across several major benchmarks.

Arabic poetry, with its rich linguistic features and profound cultural significance, presents a unique challenge to the Natural Language Processing (NLP) field. The complexity of its structure and context necessitates advanced computational models for accurate analysis. In this paper, we introduce AraPoemBERT, an Arabic language model pretrained exclusively on Arabic poetry text. To demonstrate the effectiveness of the proposed model, we compared AraPoemBERT with 5 different Arabic language models on various NLP tasks related to Arabic poetry. The new model outperformed all other models and achieved state-of-the-art results in most of the downstream tasks. AraPoemBERT achieved unprecedented accuracy in two out of three novel tasks: poet's gender classification (99.34\% accuracy), and poetry sub-meter classification (97.79\% accuracy). In addition, the model achieved an accuracy score in poems' rhyme classification (97.73\% accuracy) which is almost equivalent to the best score reported in this study. Moreover, the proposed model significantly outperformed previous work and other comparative models in the tasks of poems' sentiment analysis, achieving an accuracy of 78.95\%, and poetry meter classification (99.03\% accuracy), while significantly expanding the scope of these two problems. The dataset used in this study, contains more than 2.09 million verses collected from online sources, each associated with various attributes such as meter, sub-meter, poet, rhyme, and topic. The results demonstrate the effectiveness of the proposed model in understanding and analyzing Arabic poetry, achieving state-of-the-art results in several tasks and outperforming previous works and other language models included in the study. AraPoemBERT model is publicly available on https://huggingface.co/faisalq.

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances in multi-task imitation learning, we investigate the use of prior data from previous tasks to facilitate learning novel tasks in a robust, data-efficient manner. To make effective use of the prior data, the robot must internalize knowledge from past experiences and contextualize this knowledge in novel tasks. To that end, we develop a skill-based imitation learning framework that extracts temporally extended sensorimotor skills from prior data and subsequently learns a policy for the target task that invokes these learned skills. We identify several key design choices that significantly improve performance on novel tasks, namely representation learning objectives to enable more predictable skill representations and a retrieval-based data augmentation mechanism to increase the scope of supervision for policy training. On a collection of simulated and real-world manipulation domains, we demonstrate that our method significantly outperforms existing imitation learning and offline reinforcement learning approaches. Videos and code are available at https://ut-austin-rpl.github.io/sailor

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous machines, such as robots, is a significant challenge: conventionally, reward functions and goal states have been used to communicate objectives. But people can communicate objectives to each other simply by describing or demonstrating them. How can we build learning algorithms that will allow us to tell machines what we want them to do? In this work, we investigate the problem of grounding language commands as reward functions using inverse reinforcement learning, and argue that language-conditioned rewards are more transferable than language-conditioned policies to new environments. We propose language-conditioned reward learning (LC-RL), which grounds language commands as a reward function represented by a deep neural network. We demonstrate that our model learns rewards that transfer to novel tasks and environments on realistic, high-dimensional visual environments with natural language commands, whereas directly learning a language-conditioned policy leads to poor performance.

Language style is often used by writers to convey their intentions, identities, and mastery of language. In this paper, we show that current large language models struggle to capture some language styles without fine-tuning. To address this challenge, we investigate whether LLMs can be meta-trained based on representative lexicons to recognize new styles they have not been fine-tuned on. Experiments on 13 established style classification tasks, as well as 63 novel tasks generated using LLMs, demonstrate that meta-training with style lexicons consistently improves zero-shot transfer across styles. We release the code and data at http://github.com/octaviaguo/Style-LLM .

Recent advancements in instruction-based image editing and subject-driven generation have garnered significant attention, yet both tasks still face limitations in meeting practical user needs. Instruction-based editing relies solely on language instructions, which often fail to capture specific editing details, making reference images necessary. Meanwhile, subject-driven generation is limited to combining concrete objects or people, overlooking broader, abstract concepts. To address these challenges, we propose two novel tasks: multimodal instruction-based editing and generation. These tasks support both text and image instructions and extend the scope to include both concrete and abstract concepts, greatly enhancing their practical applications. We introduce DreamOmni2, tackling two primary challenges: data creation and model framework design. Our data synthesis pipeline consists of three steps: (1) using a feature mixing method to create extraction data for both abstract and concrete concepts, (2) generating multimodal instruction-based editing training data using the editing and extraction models, and (3) further applying the extraction model to create training data for multimodal instruction-based editing. For the framework, to handle multi-image input, we propose an index encoding and position encoding shift scheme, which helps the model distinguish images and avoid pixel confusion. Additionally, we introduce joint training with the VLM and our generation/editing model to better process complex instructions. In addition, we have proposed comprehensive benchmarks for these two new tasks to drive their development. Experiments show that DreamOmni2 has achieved impressive results. Models and codes will be released.

Text embeddings are typically evaluated on a limited set of tasks, which are constrained by language, domain, and task diversity. To address these limitations and provide a more comprehensive evaluation, we introduce the Massive Multilingual Text Embedding Benchmark (MMTEB) - a large-scale, community-driven expansion of MTEB, covering over 500 quality-controlled evaluation tasks across 250+ languages. MMTEB includes a diverse set of challenging, novel tasks such as instruction following, long-document retrieval, and code retrieval, representing the largest multilingual collection of evaluation tasks for embedding models to date. Using this collection, we develop several highly multilingual benchmarks, which we use to evaluate a representative set of models. We find that while large language models (LLMs) with billions of parameters can achieve state-of-the-art performance on certain language subsets and task categories, the best-performing publicly available model is multilingual-e5-large-instruct with only 560 million parameters. To facilitate accessibility and reduce computational cost, we introduce a novel downsampling method based on inter-task correlation, ensuring a diverse selection while preserving relative model rankings. Furthermore, we optimize tasks such as retrieval by sampling hard negatives, creating smaller but effective splits. These optimizations allow us to introduce benchmarks that drastically reduce computational demands. For instance, our newly introduced zero-shot English benchmark maintains a ranking order similar to the full-scale version but at a fraction of the computational cost.

Language models are increasingly being deployed for general problem solving across a wide range of tasks, but are still confined to token-level, left-to-right decision-making processes during inference. This means they can fall short in tasks that require exploration, strategic lookahead, or where initial decisions play a pivotal role. To surmount these challenges, we introduce a new framework for language model inference, Tree of Thoughts (ToT), which generalizes over the popular Chain of Thought approach to prompting language models, and enables exploration over coherent units of text (thoughts) that serve as intermediate steps toward problem solving. ToT allows LMs to perform deliberate decision making by considering multiple different reasoning paths and self-evaluating choices to decide the next course of action, as well as looking ahead or backtracking when necessary to make global choices. Our experiments show that ToT significantly enhances language models' problem-solving abilities on three novel tasks requiring non-trivial planning or search: Game of 24, Creative Writing, and Mini Crosswords. For instance, in Game of 24, while GPT-4 with chain-of-thought prompting only solved 4% of tasks, our method achieved a success rate of 74%. Code repo with all prompts: https://github.com/ysymyth/tree-of-thought-llm.

With powerful large language models (LLMs) demonstrating superhuman reasoning capabilities, a critical question arises: Do LLMs genuinely reason, or do they merely recall answers from their extensive, web-scraped training datasets? Publicly released benchmarks inevitably become contaminated once incorporated into subsequent LLM training sets, undermining their reliability as faithful assessments. To address this, we introduce KUMO, a generative evaluation framework designed specifically for assessing reasoning in LLMs. KUMO synergistically combines LLMs with symbolic engines to dynamically produce diverse, multi-turn reasoning tasks that are partially observable and adjustable in difficulty. Through an automated pipeline, KUMO continuously generates novel tasks across open-ended domains, compelling models to demonstrate genuine generalization rather than memorization. We evaluated 23 state-of-the-art LLMs on 5,000 tasks across 100 domains created by KUMO, benchmarking their reasoning abilities against university students. Our findings reveal that many LLMs have outperformed university-level performance on easy reasoning tasks, and reasoning-scaled LLMs reach university-level performance on complex reasoning challenges. Moreover, LLM performance on KUMO tasks correlates strongly with results on newly released real-world reasoning benchmarks, underscoring KUMO's value as a robust, enduring assessment tool for genuine LLM reasoning capabilities.

Chain-of-thought (CoT) prompting combined with few-shot in-context learning (ICL) has unlocked significant reasoning capabilities in large language models (LLMs). However, ICL with CoT examples is ineffective on novel tasks when the pre-training knowledge is insufficient. We study this problem in a controlled setting using the CoT-ICL Lab framework, and propose meta-training techniques to learn novel abstract reasoning tasks in-context. Although CoT examples facilitate reasoning, we noticed that their excessive inclusion during meta-training degrades performance when CoT supervision is limited. To mitigate such behavior, we propose CoT-Recipe, a formal approach to modulate the mix of CoT and non-CoT examples in meta-training sequences. We demonstrate that careful modulation via CoT-Recipe can increase the accuracy of transformers on novel tasks by up to 300% even when there are no CoT examples available in-context. We confirm the broader effectiveness of these techniques by applying them to pretrained LLMs (Qwen2.5 series) for symbolic reasoning tasks and observing gains of up to 130% in accuracy.

Ensuring safe and effective use of AI requires understanding and anticipating its performance on novel tasks, from advanced scientific challenges to transformed workplace activities. So far, benchmarking has guided progress in AI, but it has offered limited explanatory and predictive power for general-purpose AI systems, given the low transferability across diverse tasks. In this paper, we introduce general scales for AI evaluation that can explain what common AI benchmarks really measure, extract ability profiles of AI systems, and predict their performance for new task instances, in- and out-of-distribution. Our fully-automated methodology builds on 18 newly-crafted rubrics that place instance demands on general scales that do not saturate. Illustrated for 15 large language models and 63 tasks, high explanatory power is unleashed from inspecting the demand and ability profiles, bringing insights on the sensitivity and specificity exhibited by different benchmarks, and how knowledge, metacognition and reasoning are affected by model size, chain-of-thought and distillation. Surprisingly, high predictive power at the instance level becomes possible using these demand levels, providing superior estimates over black-box baseline predictors based on embeddings or finetuning, especially in out-of-distribution settings (new tasks and new benchmarks). The scales, rubrics, battery, techniques and results presented here represent a major step for AI evaluation, underpinning the reliable deployment of AI in the years ahead. (Collaborative platform: https://kinds-of-intelligence-cfi.github.io/ADELE.)

In recent years, supervised learning with convolutional networks (CNNs) has seen huge adoption in computer vision applications. Comparatively, unsupervised learning with CNNs has received less attention. In this work we hope to help bridge the gap between the success of CNNs for supervised learning and unsupervised learning. We introduce a class of CNNs called deep convolutional generative adversarial networks (DCGANs), that have certain architectural constraints, and demonstrate that they are a strong candidate for unsupervised learning. Training on various image datasets, we show convincing evidence that our deep convolutional adversarial pair learns a hierarchy of representations from object parts to scenes in both the generator and discriminator. Additionally, we use the learned features for novel tasks - demonstrating their applicability as general image representations.

The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce Diff-Transfer, a novel framework leveraging differentiable physics simulation to efficiently transfer robotic skills. Specifically, Diff-Transfer discovers a feasible path within the task space that brings the source task to the target task. At each pair of adjacent points along this task path, which is two sub-tasks, Diff-Transfer adapts known actions from one sub-task to tackle the other sub-task successfully. The adaptation is guided by the gradient information from differentiable physics simulations. We propose a novel path-planning method to generate sub-tasks, leveraging Q-learning with a task-level state and reward. We implement our framework in simulation experiments and execute four challenging transfer tasks on robotic manipulation, demonstrating the efficacy of Diff-Transfer through comprehensive experiments. Supplementary and Videos are on the website https://sites.google.com/view/difftransfer

Augmenting large language models (LLM) to use external tools enhances their performance across a variety of tasks. However, prior works over-rely on task-specific demonstration of tool use that limits their generalizability and computational cost due to making many calls to large-scale LLMs. We introduce GEAR, a computationally efficient query-tool grounding algorithm that is generalizable to various tasks that require tool use while not relying on task-specific demonstrations. GEAR achieves better efficiency by delegating tool grounding and execution to small language models (SLM) and LLM, respectively; while leveraging semantic and pattern-based evaluation at both question and answer levels for generalizable tool grounding. We evaluate GEAR on 14 datasets across 6 downstream tasks, demonstrating its strong generalizability to novel tasks, tools and different SLMs. Despite offering more efficiency, GEAR achieves higher precision in tool grounding compared to prior strategies using LLM prompting, thus improving downstream accuracy at a reduced computational cost. For example, we demonstrate that GEAR-augmented GPT-J and GPT-3 outperform counterpart tool-augmented baselines because of better tool use.

Finetuning a pretrained model has become a standard approach for training neural networks on novel tasks, resulting in fast convergence and improved performance. In this work, we study an alternative finetuning method, where instead of finetuning all the weights of the network, we only train a carefully chosen subset of layers, keeping the rest of the weights frozen at their initial (pretrained) values. We demonstrate that subset finetuning (or SubTuning) often achieves accuracy comparable to full finetuning of the model, and even surpasses the performance of full finetuning when training data is scarce. Therefore, SubTuning allows deploying new tasks at minimal computational cost, while enjoying the benefits of finetuning the entire model. This yields a simple and effective method for multi-task learning, where different tasks do not interfere with one another, and yet share most of the resources at inference time. We demonstrate the efficiency of SubTuning across multiple tasks, using different network architectures and pretraining methods.

Recent Vision-Language Models (VLMs) exhibit strong perceptual reasoning abilities, yet they often struggle to adapt efficiently when encountering novel tasks at test time. In contrast, humans leverage the metacognitive model with memory, enabling continuous strategy refinement through metacognitive control when faced with new challenges. To bridge this gap, we propose metacognitive test-time reasoning (MCTR), a framework that equips models with the ability to learn, adapt, and improve during test time through metacognitive self-updating. Inspired by the dual structure of human metacognition, MCTR comprises meta-level and object-level VLM reasoning modules, each equipped with dedicated memory systems for hierarchical adaptive reasoning. Specifically, MCTR consists of (1) a meta-reasoning module which incrementally builds a structured memory by discovering and storing task-relevant rules, environmental patterns, and action-outcome relationships from test-time observations as natural language descriptions; and (2) an action-reasoning module that determines optimal actions through context-aware perception and strategic reasoning by dynamically retrieving and integrating knowledge from memory. The action-reasoning module continuously updates its policy through proposed metacognitive test-time reinforcement learning, adapting as knowledge memory evolves. We evaluate MCTR on 45 Atari games (33 seen, 12 unseen). MCTR demonstrates robust test-time adaptation, achieving 9/12 top-1 results on unseen games compared with baselines. Analyses through ablations, learning dynamics, and case studies reveal the complementary contributions of both components and show meta-reasoning evolving toward human-like adaptation strategies.

Large Language Models (LLMs) are trained on a vast amount of procedural texts, but they do not directly observe real-world phenomena. In the context of cooking recipes, this poses a challenge, as intermediate states of ingredients are often omitted, making it difficult for models to track ingredient states and understand recipes accurately. In this paper, we apply state probing, a method for evaluating a language model's understanding of the world, to the domain of cooking. We propose a new task and dataset for evaluating how well LLMs can recognize intermediate ingredient states during cooking procedures. We first construct a new Japanese recipe dataset with clear and accurate annotations of ingredient state changes, collected from well-structured and controlled recipe texts. Using this dataset, we design three novel tasks to evaluate whether LLMs can track ingredient state transitions and identify ingredients present at intermediate steps. Our experiments with widely used LLMs, such as Llama3.1-70B and Qwen2.5-72B, show that learning ingredient state knowledge improves their understanding of cooking processes, achieving performance comparable to commercial LLMs.

Perceptual constancy is the ability to maintain stable perceptions of objects despite changes in sensory input, such as variations in distance, angle, or lighting. This ability is crucial for recognizing visual information in a dynamic world, making it essential for Vision-Language Models (VLMs). However, whether VLMs are currently and theoretically capable of mastering this ability remains underexplored. In this study, we evaluated 33 VLMs using 253 experiments across three domains: color, size, and shape constancy. The experiments included single-image and video adaptations of classic cognitive tasks, along with novel tasks in in-the-wild conditions, to evaluate the models' recognition of object properties under varying conditions. We found significant variability in VLM performance, with models performance in shape constancy clearly dissociated from that of color and size constancy.

Large language models (LLMs) such as GPT-4 sometimes appear to be creative, solving novel tasks often with a few demonstrations in the prompt. These tasks require the models to generalize on distributions different from those from training data -- which is known as out-of-distribution (OOD) generalization. Despite the tremendous success of LLMs, how they approach OOD generalization remains an open and underexplored question. We examine OOD generalization in settings where instances are generated according to hidden rules, including in-context learning with symbolic reasoning. Models are required to infer the hidden rules behind input prompts without any fine-tuning. We empirically examined the training dynamics of Transformers on a synthetic example and conducted extensive experiments on a variety of pretrained LLMs, focusing on a type of components known as induction heads. We found that OOD generalization and composition are tied together -- models can learn rules by composing two self-attention layers, thereby achieving OOD generalization. Furthermore, a shared latent subspace in the embedding (or feature) space acts as a bridge for composition by aligning early layers and later layers, which we refer to as the common bridge representation hypothesis.

Large language models hold significant potential for integrating various data types, such as text documents and database records, for advanced analytics. However, blending text and numerical data presents substantial challenges. LLMs need to process and cross-reference entities and numbers, handle data inconsistencies and redundancies, and develop planning capabilities such as building a working memory for managing complex data queries. In this paper, we introduce four novel tasks centered around sports data analytics to evaluate the numerical reasoning and information fusion capabilities of LLMs. These tasks involve providing LLMs with detailed, play-by-play sports game descriptions, then challenging them with adversarial scenarios such as new game rules, longer durations, scrambled narratives, and analyzing key statistics in game summaries. We conduct extensive experiments on NBA and NFL games to assess the performance of LLMs on these tasks. Our benchmark, SportsMetrics, introduces a new mechanism for assessing LLMs' numerical reasoning and fusion skills.

The SoccerNet 2023 challenges were the third annual video understanding challenges organized by the SoccerNet team. For this third edition, the challenges were composed of seven vision-based tasks split into three main themes. The first theme, broadcast video understanding, is composed of three high-level tasks related to describing events occurring in the video broadcasts: (1) action spotting, focusing on retrieving all timestamps related to global actions in soccer, (2) ball action spotting, focusing on retrieving all timestamps related to the soccer ball change of state, and (3) dense video captioning, focusing on describing the broadcast with natural language and anchored timestamps. The second theme, field understanding, relates to the single task of (4) camera calibration, focusing on retrieving the intrinsic and extrinsic camera parameters from images. The third and last theme, player understanding, is composed of three low-level tasks related to extracting information about the players: (5) re-identification, focusing on retrieving the same players across multiple views, (6) multiple object tracking, focusing on tracking players and the ball through unedited video streams, and (7) jersey number recognition, focusing on recognizing the jersey number of players from tracklets. Compared to the previous editions of the SoccerNet challenges, tasks (2-3-7) are novel, including new annotations and data, task (4) was enhanced with more data and annotations, and task (6) now focuses on end-to-end approaches. More information on the tasks, challenges, and leaderboards are available on https://www.soccer-net.org. Baselines and development kits can be found on https://github.com/SoccerNet.

Though LLMs are capable of generating plausible programs, it's challenging to interact with the LLMs further to revise the program, especially if the user's specific requirements are different from the initial proposal. In this paper, we introduce ANPL, an interactive programming system that ensures users can always refine the generated code towards their specific programmatic intents via structured decompositions. Borrowing the paradigm of sketching from program synthesis, an ANPL program consists of a set of input-outputs that it must satisfy, a ``sketch'' -- control/data flow expressed in precise code (e.g. Python), and ``holes'' -- sub-modules to be implemented by the LLM specified with natural language. The user revises an ANPL program by either modifying the sketch, changing the language used to describe the holes, or providing additional input-outputs to a particular hole, turning it into a sub-ANPL program that can be solved recursively. This workflow allows the users to offload programming burdens to the LLM as much as possible while retaining the ability to pinpoint and resolve bugs locally, without exposing the rest of the program to the LLM. We deploy ANPL on the Abstraction and Reasoning Corpus (ARC), a set of unique tasks that are challenging for state-of-the-art AI systems, showing it outperforms baseline programming systems that (a) without the ability to decompose tasks interactively and (b) without the guarantee that the modules can be correctly composed together. Additional evaluations on APPS, HumanEval, and real-world programming tasks have validated that the ANPL framework is applicable to multiple programming domains. We release the ANPL solutions to the ARC tasks as a dataset, providing insights into how humans decompose novel tasks programmatically. See our code at https://iprc-dip.github.io/ANPL/.

We propose a new strategy for applying large pre-trained language models to novel tasks when labeled training data is limited. Rather than apply the model in a typical zero-shot or few-shot fashion, we treat the model as the basis for labeling functions in a weak supervision framework. To create a classifier, we first prompt the model to answer multiple distinct queries about an example and define how the possible responses should be mapped to votes for labels and abstentions. We then denoise these noisy label sources using the Snorkel system and train an end classifier with the resulting training data. Our experimental evaluation shows that prompting large language models within a weak supervision framework can provide significant gains in accuracy. On the WRENCH weak supervision benchmark, this approach can significantly improve over zero-shot performance, an average 19.5% reduction in errors. We also find that this approach produces classifiers with comparable or superior accuracy to those trained from hand-engineered rules.

Key challenges for the deployment of reinforcement learning (RL) agents in the real world are the discovery, representation and reuse of skills in the absence of a reward function. To this end, we propose a novel approach to learn a task-agnostic skill embedding space from unlabeled multi-view videos. Our method learns a general skill embedding independently from the task context by using an adversarial loss. We combine a metric learning loss, which utilizes temporal video coherence to learn a state representation, with an entropy regularized adversarial skill-transfer loss. The metric learning loss learns a disentangled representation by attracting simultaneous viewpoints of the same observations and repelling visually similar frames from temporal neighbors. The adversarial skill-transfer loss enhances re-usability of learned skill embeddings over multiple task domains. We show that the learned embedding enables training of continuous control policies to solve novel tasks that require the interpolation of previously seen skills. Our extensive evaluation with both simulation and real world data demonstrates the effectiveness of our method in learning transferable skills from unlabeled interaction videos and composing them for new tasks. Code, pretrained models and dataset are available at http://robotskills.cs.uni-freiburg.de

Knowledge distillation from LLMs is essential for the efficient deployment of language models. Prior works have proposed data generation using LLMs for preparing distilled models. We argue that generating data with LLMs is prone to sampling mainly from the center of original content distribution. This limitation hinders the distilled model from learning the true underlying data distribution and to forget the tails of the distributions (samples with lower probability). To this end, we propose GOLD, a task-agnostic data generation and knowledge distillation framework, which employs an iterative out-of-distribution-guided feedback mechanism for the LLM. As a result, the generated data improves the generalizability of distilled models. An energy-based OOD evaluation approach is also introduced to deal with noisy generated data. Our extensive experiments on 10 different classification and sequence-to-sequence tasks in NLP show that GOLD respectively outperforms prior arts and the LLM with an average improvement of 5% and 14%. We will also show that the proposed method is applicable to less explored and novel tasks. The code is available.

Video generative models trained on expert demonstrations have been utilized as performant text-conditioned visual planners for solving robotic tasks. However, generalization to unseen tasks remains a challenge. Whereas improved generalization may be facilitated by leveraging learned prior knowledge from additional pre-collected offline data sources, such as web-scale video datasets, in the era of experience we aim to design agents that can continuously improve in an online manner from self-collected behaviors. In this work we thus propose the Self-Adapting Improvement Loop (SAIL), where an in-domain video model iteratively updates itself on self-produced trajectories, collected through adaptation with an internet-scale pretrained video model, and steadily improves its performance for a specified task of interest. We apply SAIL to a diverse suite of MetaWorld tasks, as well as two manipulation tasks on a real robot arm, and find that performance improvements continuously emerge over multiple iterations for novel tasks initially unseen during original in-domain video model training. Furthermore, we discover that SAIL is surprisingly robust regarding if and how the self-collected experience is filtered, and the quality of the initial in-domain demonstrations. Through adaptation with summarized internet-scale data, and learning through online experience, we thus demonstrate a way to iteratively bootstrap a high-performance video model for solving novel robotic tasks through self-improvement.

Genomic (DNA) sequences encode an enormous amount of information for gene regulation and protein synthesis. Similar to natural language models, researchers have proposed foundation models in genomics to learn generalizable features from unlabeled genome data that can then be fine-tuned for downstream tasks such as identifying regulatory elements. Due to the quadratic scaling of attention, previous Transformer-based genomic models have used 512 to 4k tokens as context (<0.001% of the human genome), significantly limiting the modeling of long-range interactions in DNA. In addition, these methods rely on tokenizers to aggregate meaningful DNA units, losing single nucleotide resolution where subtle genetic variations can completely alter protein function via single nucleotide polymorphisms (SNPs). Recently, Hyena, a large language model based on implicit convolutions was shown to match attention in quality while allowing longer context lengths and lower time complexity. Leveraging Hyenas new long-range capabilities, we present HyenaDNA, a genomic foundation model pretrained on the human reference genome with context lengths of up to 1 million tokens at the single nucleotide-level, an up to 500x increase over previous dense attention-based models. HyenaDNA scales sub-quadratically in sequence length (training up to 160x faster than Transformer), uses single nucleotide tokens, and has full global context at each layer. We explore what longer context enables - including the first use of in-context learning in genomics for simple adaptation to novel tasks without updating pretrained model weights. On fine-tuned benchmarks from the Nucleotide Transformer, HyenaDNA reaches state-of-the-art (SotA) on 12 of 17 datasets using a model with orders of magnitude less parameters and pretraining data. On the GenomicBenchmarks, HyenaDNA surpasses SotA on all 8 datasets on average by +9 accuracy points.

We introduce Voyager, the first LLM-powered embodied lifelong learning agent in Minecraft that continuously explores the world, acquires diverse skills, and makes novel discoveries without human intervention. Voyager consists of three key components: 1) an automatic curriculum that maximizes exploration, 2) an ever-growing skill library of executable code for storing and retrieving complex behaviors, and 3) a new iterative prompting mechanism that incorporates environment feedback, execution errors, and self-verification for program improvement. Voyager interacts with GPT-4 via blackbox queries, which bypasses the need for model parameter fine-tuning. The skills developed by Voyager are temporally extended, interpretable, and compositional, which compounds the agent's abilities rapidly and alleviates catastrophic forgetting. Empirically, Voyager shows strong in-context lifelong learning capability and exhibits exceptional proficiency in playing Minecraft. It obtains 3.3x more unique items, travels 2.3x longer distances, and unlocks key tech tree milestones up to 15.3x faster than prior SOTA. Voyager is able to utilize the learned skill library in a new Minecraft world to solve novel tasks from scratch, while other techniques struggle to generalize. We open-source our full codebase and prompts at https://voyager.minedojo.org/.

Large "instruction-tuned" language models (finetuned to respond to instructions) have demonstrated a remarkable ability to generalize zero-shot to new tasks. Nevertheless, they depend heavily on human-written instruction data that is limited in quantity, diversity, and creativity, therefore hindering the generality of the tuned model. We introduce Self-Instruct, a framework for improving the instruction-following capabilities of pretrained language models by bootstrapping off its own generations. Our pipeline generates instruction, input, and output samples from a language model, then prunes them before using them to finetune the original model. Applying our method to vanilla GPT3, we demonstrate a 33% absolute improvement over the original model on Super-NaturalInstructions, on par with the performance of InstructGPT_001, which is trained with private user data and human annotations. For further evaluation, we curate a set of expert-written instructions for novel tasks, and show through human evaluation that tuning GPT3 with Self-Instruct outperforms using existing public instruction datasets by a large margin, leaving only a 5% absolute gap behind InstructGPT_001. Self-Instruct provides an almost annotation-free method for aligning pre-trained language models with instructions, and we release our large synthetic dataset to facilitate future studies on instruction tuning.

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit limited zero-shot capability, which hampers their ability to generalize effectively to unseen scenarios. In this work, we propose GeneralVLA (Generalizable Vision-Language-Action Models with Knowledge-Guided Trajectory Planning), a hierarchical vision-language-action (VLA) model that can be more effective in utilizing the generalization of foundation models, enabling zero-shot manipulation and automatically generating data for robotics. In particular, we study a class of hierarchical VLA model where the high-level ASM (Affordance Segmentation Module) is finetuned to perceive image keypoint affordances of the scene; the mid-level 3DAgent carries out task understanding, skill knowledge, and trajectory planning to produce a 3D path indicating the desired robot end-effector trajectory. The intermediate 3D path prediction is then served as guidance to the low-level, 3D-aware control policy capable of precise manipulation. Compared to alternative approaches, our method requires no real-world robotic data collection or human demonstration, making it much more scalable to diverse tasks and viewpoints. Empirically, GeneralVLA successfully generates trajectories for 14 tasks, significantly outperforming state-of-the-art methods such as VoxPoser. The generated demonstrations can train more robust behavior cloning policies than training with human demonstrations or from data generated by VoxPoser, Scaling-up, and Code-As-Policies. We believe GeneralVLA can be the scalable method for both generating data for robotics and solving novel tasks in a zero-shot setting. Code: https://github.com/AIGeeksGroup/GeneralVLA. Website: https://aigeeksgroup.github.io/GeneralVLA.

Large-scale pre-trained Vision-Language Models (VLMs) have significantly advanced transfer learning across diverse tasks. However, adapting these models with limited few-shot data often leads to overfitting, undermining their ability to generalize to new tasks. To address this, we propose Multi-Modal Representation Learning (MMRL), which introduces a shared, learnable, modality-agnostic representation space. MMRL generates space tokens projected into both text and image encoders as representation tokens, enabling more effective cross-modal interactions. Unlike prior methods that mainly optimize class token features, MMRL inserts representation tokens into higher encoder layers--where task-specific features are more prominent--while preserving general knowledge in the lower layers. During training, both class and representation features are jointly optimized: a trainable projection layer is applied to representation tokens for task adaptation, while the projection layer for class token remains frozen to retain pre-trained knowledge. To further promote generalization, we introduce a regularization term aligning class and text features with the frozen VLM's zero-shot features. At inference, a decoupling strategy uses both class and representation features for base tasks, but only class features for novel tasks due to their stronger generalization. Building upon this, we propose MMRL++, a parameter-efficient and interaction-aware extension that significantly reduces trainable parameters and enhances intra-modal interactions--particularly across the layers of representation tokens--allowing gradient sharing and instance-specific information to propagate more effectively through the network. Extensive experiments on 15 datasets demonstrate that MMRL and MMRL++ consistently outperform state-of-the-art methods, achieving a strong balance between task-specific adaptation and generalization.

Recently, pre-trained model and efficient parameter tuning have achieved remarkable success in natural language processing and high-level computer vision with the aid of masked modeling and prompt tuning. In low-level computer vision, however, there have been limited investigations on pre-trained models and even efficient fine-tuning strategy has not yet been explored despite its importance and benefit in various real-world tasks such as alleviating memory inflation issue when integrating new tasks on AI edge devices. Here, we propose a novel efficient parameter tuning approach dubbed contribution-based low-rank adaptation (CoLoRA) for multiple image restorations along with effective pre-training method with random order degradations (PROD). Unlike prior arts that tune all network parameters, our CoLoRA effectively fine-tunes small amount of parameters by leveraging LoRA (low-rank adaptation) for each new vision task with our contribution-based method to adaptively determine layer by layer capacity for that task to yield comparable performance to full tuning. Furthermore, our PROD strategy allows to extend the capability of pre-trained models with improved performance as well as robustness to bridge synthetic pre-training and real-world fine-tuning. Our CoLoRA with PROD has demonstrated its superior performance in various image restoration tasks across diverse degradation types on both synthetic and real-world datasets for known and novel tasks.

Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity of robot demonstration data. Although vision-language models have been shown to automatically generate demonstration data, their utility has been limited to environments with privileged state information, they require hand-designed skills, and are limited to interactions with few object instances. We propose Manipulate-Anything, a scalable automated generation method for real-world robotic manipulation. Unlike prior work, our method can operate in real-world environments without any privileged state information, hand-designed skills, and can manipulate any static object. We evaluate our method using two setups. First, Manipulate-Anything successfully generates trajectories for all 7 real-world and 14 simulation tasks, significantly outperforming existing methods like VoxPoser. Second, Manipulate-Anything's demonstrations can train more robust behavior cloning policies than training with human demonstrations, or from data generated by VoxPoser, Scaling-up, and Code-As-Policies. We believe Manipulate-Anything can be a scalable method for both generating data for robotics and solving novel tasks in a zero-shot setting. Project page: https://robot-ma.github.io/.

Achieving generalizability in solving out-of-distribution tasks is one of the ultimate goals of learning robotic manipulation. Recent progress of Vision-Language Models (VLMs) has shown that VLM-based task planners can alleviate the difficulty of solving novel tasks, by decomposing the compounded tasks as a plan of sequentially executing primitive-level skills that have been already mastered. It is also promising for robotic manipulation to adapt such composable generalization ability, in the form of composable generalization agents (CGAs). However, the community lacks of reliable design of primitive skills and a sufficient amount of primitive-level data annotations. Therefore, we propose RH20T-P, a primitive-level robotic manipulation dataset, which contains about 38k video clips covering 67 diverse manipulation tasks in real-world scenarios. Each clip is manually annotated according to a set of meticulously designed primitive skills that are common in robotic manipulation. Furthermore, we standardize a plan-execute CGA paradigm and implement an exemplar baseline called RA-P on our RH20T-P, whose positive performance on solving unseen tasks validates that the proposed dataset can offer composable generalization ability to robotic manipulation agents.

Can we pre-train a generalist agent from a large amount of unlabeled offline trajectories such that it can be immediately adapted to any new downstream tasks in a zero-shot manner? In this work, we present a functional reward encoding (FRE) as a general, scalable solution to this zero-shot RL problem. Our main idea is to learn functional representations of any arbitrary tasks by encoding their state-reward samples using a transformer-based variational auto-encoder. This functional encoding not only enables the pre-training of an agent from a wide diversity of general unsupervised reward functions, but also provides a way to solve any new downstream tasks in a zero-shot manner, given a small number of reward-annotated samples. We empirically show that FRE agents trained on diverse random unsupervised reward functions can generalize to solve novel tasks in a range of simulated robotic benchmarks, often outperforming previous zero-shot RL and offline RL methods. Code for this project is provided at: https://github.com/kvfrans/fre

We introduce the first multitasking vision transformer adapters that learn generalizable task affinities which can be applied to novel tasks and domains. Integrated into an off-the-shelf vision transformer backbone, our adapters can simultaneously solve multiple dense vision tasks in a parameter-efficient manner, unlike existing multitasking transformers that are parametrically expensive. In contrast to concurrent methods, we do not require retraining or fine-tuning whenever a new task or domain is added. We introduce a task-adapted attention mechanism within our adapter framework that combines gradient-based task similarities with attention-based ones. The learned task affinities generalize to the following settings: zero-shot task transfer, unsupervised domain adaptation, and generalization without fine-tuning to novel domains. We demonstrate that our approach outperforms not only the existing convolutional neural network-based multitasking methods but also the vision transformer-based ones. Our project page is at https://ivrl.github.io/VTAGML.

The predictions of Large Language Models (LLMs) on downstream tasks often improve significantly when including examples of the input--label relationship in the context. However, there is currently no consensus about how this in-context learning (ICL) ability of LLMs works. For example, while Xie et al. (2021) liken ICL to a general-purpose learning algorithm, Min et al. (2022) argue ICL does not even learn label relationships from in-context examples. In this paper, we provide novel insights into how ICL leverages label information, revealing both capabilities and limitations. To ensure we obtain a comprehensive picture of ICL behavior, we study probabilistic aspects of ICL predictions and thoroughly examine the dynamics of ICL as more examples are provided. Our experiments show that ICL predictions almost always depend on in-context labels and that ICL can learn truly novel tasks in-context. However, we also find that ICL struggles to fully overcome prediction preferences acquired from pre-training data and, further, that ICL does not consider all in-context information equally.

Building agents with large language models (LLMs) for computer control is a burgeoning research area, where the agent receives computer states and performs actions to complete complex tasks. Previous computer agents have demonstrated the benefits of in-context learning (ICL); however, their performance is hindered by several issues. First, the limited context length of LLMs and complex computer states restrict the number of exemplars, as a single webpage can consume the entire context. Second, the exemplars in current methods, such as high-level plans and multi-choice questions, cannot represent complete trajectories, leading to suboptimal performance in long-horizon tasks. Third, existing computer agents rely on task-specific exemplars and overlook the similarity among tasks, resulting in poor generalization to novel tasks. To address these challenges, we introduce Synapse, a computer agent featuring three key components: i) state abstraction, which filters out task-irrelevant information from raw states, allowing more exemplars within the limited context, ii) trajectory-as-exemplar prompting, which prompts the LLM with complete trajectories of the abstracted states and actions to improve multi-step decision-making, and iii) exemplar memory, which stores the embeddings of exemplars and retrieves them via similarity search for generalization to novel tasks. We evaluate Synapse on MiniWoB++, a standard task suite, and Mind2Web, a real-world website benchmark. In MiniWoB++, Synapse achieves a 99.2% average success rate (a 10% relative improvement) across 64 tasks using demonstrations from only 48 tasks. Notably, Synapse is the first ICL method to solve the book-flight task in MiniWoB++. Synapse also exhibits a 56% relative improvement in average step success rate over the previous state-of-the-art prompting scheme in Mind2Web.

In-context learning (ICL), the ability of large language models to perform novel tasks by conditioning on a prompt with a few task examples, requires these examples to be informative about the test instance. The standard approach of independently ranking and selecting the most similar examples selects redundant examples while omitting important information. In this work, we show that BERTScore-Recall (BSR) selects better examples that demonstrate more of the salient aspects, e.g. reasoning patterns, of the test input. We further extend BSR and many standard metrics to easily optimizable set-level metrics, giving still better coverage of those salient aspects. On 15 datasets spanning 6 tasks and with 7 diverse LLMs, we show that (1) BSR is the superior metric for in-context example selection across the board, and (2) for compositional tasks, set selection using Set-BSR outperforms independent ranking by up to 17 points on average and, despite being training-free, surpasses methods that leverage task or LLM-specific training.

In this paper, we take the initiative to investigate the performance of LLMs on complex planning tasks that require LLMs to understand a virtual spatial environment simulated via natural language and act correspondingly in text. We propose a benchmark named Natural Language Planning and Action (Natala) composed of a set of novel tasks: Brick World, NLVR-based Manipulations, and Natural Language Navigation. We found that current popular LLMs such as ChatGPT still lack abilities in complex planning. This arises a question -- do the LLMs have a good understanding of the environments described in natural language, or maybe other alternatives such as symbolic representations are neater and hence better to be understood by LLMs? To this end, we propose a novel method called CoS (Chain-of-Symbol Prompting) that represents the complex environments with condensed symbolic spatial representations during the chained intermediate thinking steps. CoS is easy to use and does not need additional training on LLMs. Extensive experiments indicate that CoS clearly surpasses the performance of the Chain-of-Thought (CoT) Prompting in all three planning tasks with even fewer tokens used in the inputs compared with CoT on ChatGPT and InstructGPT. The performance gain is strong, by up to 60.8% accuracy (from 31.8% to 92.6%) on Brick World for ChatGPT. CoS also reduces the number of tokens in the prompt obviously, by up to 65.8% of the tokens (from 407 to 139) for the intermediate steps from demonstrations on Brick World. Code and data available at: https://github.com/hanxuhu/chain-of-symbol-planning

Figures of speech such as metaphors, similes, and idioms allow language to be expressive, invoke emotion, and communicate abstract ideas that might otherwise be difficult to visualize. These figurative forms are often conveyed through multiple modes, such as text and images, and frequently appear in advertising, news, social media, etc. Understanding multimodal figurative language is an essential component of human communication, and it plays a significant role in our daily interactions. While humans can intuitively understand multimodal figurative language, this poses a challenging task for machines that requires the cognitive ability to map between domains, abstraction, commonsense, and profound language and cultural knowledge. In this work, we propose the Image Recognition of Figurative Language dataset to examine vision and language models' understanding of figurative language. We leverage human annotation and an automatic pipeline we created to generate a multimodal dataset and introduce two novel tasks as a benchmark for multimodal figurative understanding. We experiment with several baseline models and find that all perform substantially worse than humans. We hope our dataset and benchmark will drive the development of models that will better understand figurative language.

Task incremental learning aims to enable a system to maintain its performance on previously learned tasks while learning new tasks, solving the problem of catastrophic forgetting. One promising approach is to build an individual network or sub-network for future tasks. However, this leads to an ever-growing memory due to saving extra weights for new tasks and how to address this issue has remained an open problem in task incremental learning. In this paper, we introduce a novel Neural Weight Search technique that designs a fixed search space where the optimal combinations of frozen weights can be searched to build new models for novel tasks in an end-to-end manner, resulting in scalable and controllable memory growth. Extensive experiments on two benchmarks, i.e., Split-CIFAR-100 and CUB-to-Sketches, show our method achieves state-of-the-art performance with respect to both average inference accuracy and total memory cost.

NLP has achieved great progress in the past decade through the use of neural models and large labeled datasets. The dependence on abundant data prevents NLP models from being applied to low-resource settings or novel tasks where significant time, money, or expertise is required to label massive amounts of textual data. Recently, data augmentation methods have been explored as a means of improving data efficiency in NLP. To date, there has been no systematic empirical overview of data augmentation for NLP in the limited labeled data setting, making it difficult to understand which methods work in which settings. In this paper, we provide an empirical survey of recent progress on data augmentation for NLP in the limited labeled data setting, summarizing the landscape of methods (including token-level augmentations, sentence-level augmentations, adversarial augmentations, and hidden-space augmentations) and carrying out experiments on 11 datasets covering topics/news classification, inference tasks, paraphrasing tasks, and single-sentence tasks. Based on the results, we draw several conclusions to help practitioners choose appropriate augmentations in different settings and discuss the current challenges and future directions for limited data learning in NLP.

Despite recent advancements, most computational methods for molecule optimization are constrained to single- or double-property optimization tasks and suffer from poor scalability and generalizability to novel optimization tasks. Meanwhile, Large Language Models (LLMs) demonstrate remarkable out-of-domain generalizability to novel tasks. To demonstrate LLMs' potential for molecule optimization, we introduce MoMUInstruct, the first high-quality instruction-tuning dataset specifically focused on complex multi-property molecule optimization tasks. Leveraging MoMUInstruct, we develop GeLLM^3Os, a series of instruction-tuned LLMs for molecule optimization. Extensive evaluations across 5 in-domain and 5 out-of-domain tasks demonstrate that GeLLM^3Os consistently outperform state-of-the-art baselines. GeLLM^3Os also exhibit outstanding zero-shot generalization to unseen tasks, significantly outperforming powerful closed-source LLMs. Such strong generalizability demonstrates the tremendous potential of GeLLM^3Os as foundational models for molecule optimization, thereby tackling novel optimization tasks without resource-intensive retraining. MoMUInstruct, models, and code are accessible through https://github.com/ninglab/GeLLMO.

Large Language Models (LLMs) are transforming diverse fields and gaining increasing influence as human proxies. This development underscores the urgent need for evaluating value orientations and understanding of LLMs to ensure their responsible integration into public-facing applications. This work introduces ValueBench, the first comprehensive psychometric benchmark for evaluating value orientations and value understanding in LLMs. ValueBench collects data from 44 established psychometric inventories, encompassing 453 multifaceted value dimensions. We propose an evaluation pipeline grounded in realistic human-AI interactions to probe value orientations, along with novel tasks for evaluating value understanding in an open-ended value space. With extensive experiments conducted on six representative LLMs, we unveil their shared and distinctive value orientations and exhibit their ability to approximate expert conclusions in value-related extraction and generation tasks. ValueBench is openly accessible at https://github.com/Value4AI/ValueBench.

In-Context Learning (ICL) enables transformer-based language models to adapt to new tasks by conditioning on demonstration examples. However, traditional example-driven in-context learning lacks explicit modules for knowledge retrieval and transfer at the abstraction level. Inspired by cognitive science, specifically schema theory, which holds that humans interpret new information by activating pre-existing mental frameworks (schemas) to structure understanding, we introduce SCHEMA ACTIVATED IN CONTEXT LEARNING (SA-ICL). This framework extracts the representation of the building blocks of cognition for the reasoning process instilled from prior examples, creating an abstracted schema, a lightweight, structured template of key inferential steps and their relationships, which is then used to augment a model's reasoning process when presented with a novel question. We demonstrate that a broad range of large language models (LLMs) lack the capacity to form and utilize internal schema-based learning representations implicitly, but instead benefit significantly from explicit schema-based scaffolding. Across chemistry and physics questions from the GPQA dataset, our experiments show that SA-ICL consistently boosts performance, up to 36.19 percent, when the single demonstration example is of high quality, which simultaneously reduces reliance on the number of demonstrations and enhances interpretability. SCHEMA ACTIVATED IN CONTEXT LEARNING not only bridges disparate ICL strategies ranging from pattern priming to Chain-of-Thought prompting, but also paves a new path for enhancing human-like reasoning in LLMs.

Multi-agent systems (MAS) leveraging the impressive capabilities of Large Language Models (LLMs) hold significant potential for tackling complex tasks. However, most current MAS depend on manually designed agent roles and communication protocols. These manual designs often fail to align with the underlying LLMs' strengths and struggle to adapt to novel tasks. Recent automatic MAS approaches attempt to mitigate these limitations but typically necessitate a validation set for tuning and yield static MAS designs lacking adaptability during inference. We introduce MAS-ZERO, the first self-evolved, inference-time framework for automatic MAS design. MAS-ZERO employs meta-level design to iteratively generate, evaluate, and refine MAS configurations tailored to each problem instance, without requiring a validation set. Critically, it enables dynamic agent composition and problem decomposition through meta-feedback on solvability and completeness. Experiments across math, graduate-level QA, and software engineering benchmarks, using both closed-source and open-source LLM backbones of varying sizes, demonstrate that MAS-ZERO outperforms both manual and automatic MAS baselines, achieving a 7.44% average accuracy improvement over the next strongest baseline while maintaining cost-efficiency. These findings underscore the promise of meta-level self-evolved design for creating effective and adaptive MAS.

Achieving generalization in robotic manipulation remains a critical challenge, particularly for unseen scenarios and novel tasks. Current Vision-Language-Action (VLA) models, while building on top of general Vision-Language Models (VLMs), still fall short of achieving robust zero-shot performance due to the scarcity and heterogeneity prevalent in embodied datasets. To address these limitations, we propose FSD (From Seeing to Doing), a novel vision-language model that generates intermediate representations through spatial relationship reasoning, providing fine-grained guidance for robotic manipulation. Our approach combines a hierarchical data pipeline for training with a self-consistency mechanism that aligns spatial coordinates with visual signals. Through extensive experiments, we comprehensively validated FSD's capabilities in both "seeing" and "doing," achieving outstanding performance across 8 benchmarks for general spatial reasoning and embodied reference abilities, as well as on our proposed more challenging benchmark VABench. We also verified zero-shot capabilities in robot manipulation, demonstrating significant performance improvements over baseline methods in both SimplerEnv and real robot settings. Experimental results show that FSD achieves 40.6% success rate in SimplerEnv and 72% success rate across 8 real-world tasks, outperforming the strongest baseline by 30%.

Existing policy learning methods predominantly adopt the task-centric paradigm, necessitating the collection of task data in an end-to-end manner. Consequently, the learned policy tends to fail to tackle novel tasks. Moreover, it is hard to localize the errors for a complex task with multiple stages due to end-to-end learning. To address these challenges, we propose RoboMatrix, a skill-centric and hierarchical framework for scalable task planning and execution. We first introduce a novel skill-centric paradigm that extracts the common meta-skills from different complex tasks. This allows for the capture of embodied demonstrations through a kill-centric approach, enabling the completion of open-world tasks by combining learned meta-skills. To fully leverage meta-skills, we further develop a hierarchical framework that decouples complex robot tasks into three interconnected layers: (1) a high-level modular scheduling layer; (2) a middle-level skill layer; and (3) a low-level hardware layer. Experimental results illustrate that our skill-centric and hierarchical framework achieves remarkable generalization performance across novel objects, scenes, tasks, and embodiments. This framework offers a novel solution for robot task planning and execution in open-world scenarios. Our software and hardware are available at https://github.com/WayneMao/RoboMatrix.

While vision-language-action models (VLAs) have shown promising robotic behaviors across a diverse set of manipulation tasks, they achieve limited success rates when deployed on novel tasks out-of-the-box. To allow these policies to safely interact with their environments, we need a failure detector that gives a timely alert such that the robot can stop, backtrack, or ask for help. However, existing failure detectors are trained and tested only on one or a few specific tasks, while VLAs require the detector to generalize and detect failures also in unseen tasks and novel environments. In this paper, we introduce the multitask failure detection problem and propose SAFE, a failure detector for generalist robot policies such as VLAs. We analyze the VLA feature space and find that VLAs have sufficient high-level knowledge about task success and failure, which is generic across different tasks. Based on this insight, we design SAFE to learn from VLA internal features and predict a single scalar indicating the likelihood of task failure. SAFE is trained on both successful and failed rollouts, and is evaluated on unseen tasks. SAFE is compatible with different policy architectures. We test it on OpenVLA, pi_0, and pi_0-FAST in both simulated and real-world environments extensively. We compare SAFE with diverse baselines and show that SAFE achieves state-of-the-art failure detection performance and the best trade-off between accuracy and detection time using conformal prediction. More qualitative results can be found at https://vla-safe.github.io/.

A central challenge in reinforcement learning (RL) is its dependence on extensive real-world interaction data to learn task-specific policies. While recent work demonstrates that large language models (LLMs) can mitigate this limitation by generating synthetic experience (noted as imaginary rollouts) for mastering novel tasks, progress in this emerging field is hindered due to the lack of a standard benchmark. To bridge this gap, we introduce ImagineBench, the first comprehensive benchmark for evaluating offline RL algorithms that leverage both real rollouts and LLM-imaginary rollouts. The key features of ImagineBench include: (1) datasets comprising environment-collected and LLM-imaginary rollouts; (2) diverse domains of environments covering locomotion, robotic manipulation, and navigation tasks; and (3) natural language task instructions with varying complexity levels to facilitate language-conditioned policy learning. Through systematic evaluation of state-of-the-art offline RL algorithms, we observe that simply applying existing offline RL algorithms leads to suboptimal performance on unseen tasks, achieving 35.44% success rate in hard tasks in contrast to 64.37% of method training on real rollouts for hard tasks. This result highlights the need for algorithm advancements to better leverage LLM-imaginary rollouts. Additionally, we identify key opportunities for future research: including better utilization of imaginary rollouts, fast online adaptation and continual learning, and extension to multi-modal tasks. Our code is publicly available at https://github.com/LAMDA-RL/ImagineBench.

Embodied agents face significant challenges when tasked with performing actions in diverse environments, particularly in generalizing across object types and executing suitable actions to accomplish tasks. Furthermore, agents should exhibit robustness, minimizing the execution of illegal actions. In this work, we present Egocentric Planning, an innovative approach that combines symbolic planning and Object-oriented POMDPs to solve tasks in complex environments, harnessing existing models for visual perception and natural language processing. We evaluated our approach in ALFRED, a simulated environment designed for domestic tasks, and demonstrated its high scalability, achieving an impressive 36.07% unseen success rate in the ALFRED benchmark and winning the ALFRED challenge at CVPR Embodied AI workshop. Our method requires reliable perception and the specification or learning of a symbolic description of the preconditions and effects of the agent's actions, as well as what object types reveal information about others. It is capable of naturally scaling to solve new tasks beyond ALFRED, as long as they can be solved using the available skills. This work offers a solid baseline for studying end-to-end and hybrid methods that aim to generalize to new tasks, including recent approaches relying on LLMs, but often struggle to scale to long sequences of actions or produce robust plans for novel tasks.

The hallmark of human intelligence is the ability to master new skills through Constructive Episodic Simulation-retrieving past experiences to synthesize solutions for novel tasks. While Large Language Models possess strong reasoning capabilities, they struggle to emulate this self-evolution: fine-tuning is computationally expensive and prone to catastrophic forgetting, while existing memory-based methods rely on passive semantic matching that often retrieves noise. To address these challenges, we propose MemRL, a framework that enables agents to self-evolve via non-parametric reinforcement learning on episodic memory. MemRL explicitly separates the stable reasoning of a frozen LLM from the plastic, evolving memory. Unlike traditional methods, MemRL employs a Two-Phase Retrieval mechanism that filters candidates by semantic relevance and then selects them based on learned Q-values (utility). These utilities are continuously refined via environmental feedback in an trial-and-error manner, allowing the agent to distinguish high-value strategies from similar noise. Extensive experiments on HLE, BigCodeBench, ALFWorld, and Lifelong Agent Bench demonstrate that MemRL significantly outperforms state-of-the-art baselines. Our analysis experiments confirm that MemRL effectively reconciles the stability-plasticity dilemma, enabling continuous runtime improvement without weight updates.

Large Language Models (LLMs) have demonstrated strong capabilities but remain fundamentally static, unable to adapt their internal parameters to novel tasks, evolving knowledge domains, or dynamic interaction contexts. As LLMs are increasingly deployed in open-ended, interactive environments, this static nature has become a critical bottleneck, necessitating agents that can adaptively reason, act, and evolve in real time. This paradigm shift -- from scaling static models to developing self-evolving agents -- has sparked growing interest in architectures and methods enabling continual learning and adaptation from data, interactions, and experiences. This survey provides the first systematic and comprehensive review of self-evolving agents, organized around three foundational dimensions -- what to evolve, when to evolve, and how to evolve. We examine evolutionary mechanisms across agent components (e.g., models, memory, tools, architecture), categorize adaptation methods by stages (e.g., intra-test-time, inter-test-time), and analyze the algorithmic and architectural designs that guide evolutionary adaptation (e.g., scalar rewards, textual feedback, single-agent and multi-agent systems). Additionally, we analyze evaluation metrics and benchmarks tailored for self-evolving agents, highlight applications in domains such as coding, education, and healthcare, and identify critical challenges and research directions in safety, scalability, and co-evolutionary dynamics. By providing a structured framework for understanding and designing self-evolving agents, this survey establishes a roadmap for advancing adaptive agentic systems in both research and real-world deployments, ultimately shedding lights to pave the way for the realization of Artificial Super Intelligence (ASI), where agents evolve autonomously, performing at or beyond human-level intelligence across a wide array of tasks.

Advancements in generative AI have broadened the potential applications of Large Language Models (LLMs) in the development of autonomous agents. Achieving true autonomy requires accumulating and updating knowledge gained from interactions with the environment and effectively utilizing it. Current LLM-based approaches leverage past experiences using a full history of observations, summarization or retrieval augmentation. However, these unstructured memory representations do not facilitate the reasoning and planning essential for complex decision-making. In our study, we introduce AriGraph, a novel method wherein the agent constructs a memory graph that integrates semantic and episodic memories while exploring the environment. This graph structure facilitates efficient associative retrieval of interconnected concepts, relevant to the agent's current state and goals, thus serving as an effective environmental model that enhances the agent's exploratory and planning capabilities. We demonstrate that our Ariadne LLM agent, equipped with this proposed memory architecture augmented with planning and decision-making, effectively handles complex tasks on a zero-shot basis in the TextWorld environment. Our approach markedly outperforms established methods such as full-history, summarization, and Retrieval-Augmented Generation in various tasks, including the cooking challenge from the First TextWorld Problems competition and novel tasks like house cleaning and puzzle Treasure Hunting.

Simulation-based data synthesis has emerged as a powerful paradigm for enhancing real-world robotic manipulation. However, existing synthetic datasets remain insufficient for robust bimanual manipulation due to two challenges: (1) the lack of an efficient, scalable data generation method for novel tasks, and (2) oversimplified simulation environments that fail to capture real-world complexity. We present RoboTwin 2.0, a scalable simulation framework that enables automated, large-scale generation of diverse and realistic data, along with unified evaluation protocols for dual-arm manipulation. We first construct RoboTwin-OD, a large-scale object library comprising 731 instances across 147 categories, each annotated with semantic and manipulation-relevant labels. Building on this foundation, we develop an expert data synthesis pipeline that combines multimodal large language models (MLLMs) with simulation-in-the-loop refinement to generate task-level execution code automatically. To improve sim-to-real transfer, RoboTwin 2.0 incorporates structured domain randomization along five axes: clutter, lighting, background, tabletop height and language instructions, thereby enhancing data diversity and policy robustness. We instantiate this framework across 50 dual-arm tasks spanning five robot embodiments, and pre-collect over 100,000 domain-randomized expert trajectories. Empirical results show a 10.9% gain in code generation success and improved generalization to novel real-world scenarios. A VLA model fine-tuned on our dataset achieves a 367% relative improvement (42.0% vs. 9.0%) on unseen scene real-world tasks, while zero-shot models trained solely on our synthetic data achieve a 228% relative gain, highlighting strong generalization without real-world supervision. We release the data generator, benchmark, dataset, and code to support scalable research in robust bimanual manipulation.

Language Models and Vision Language Models have recently demonstrated unprecedented capabilities in terms of understanding human intentions, reasoning, scene understanding, and planning-like behaviour, in text form, among many others. In this work, we investigate how to embed and leverage such abilities in Reinforcement Learning (RL) agents. We design a framework that uses language as the core reasoning tool, exploring how this enables an agent to tackle a series of fundamental RL challenges, such as efficient exploration, reusing experience data, scheduling skills, and learning from observations, which traditionally require separate, vertically designed algorithms. We test our method on a sparse-reward simulated robotic manipulation environment, where a robot needs to stack a set of objects. We demonstrate substantial performance improvements over baselines in exploration efficiency and ability to reuse data from offline datasets, and illustrate how to reuse learned skills to solve novel tasks or imitate videos of human experts.

One paradigm of language model (LM) fine-tuning relies on creating large training datasets, under the assumption that high quantity and diversity will enable models to generalize to novel tasks after post-training. In practice, gathering large sets of data is inefficient, and training on them is prohibitively expensive; worse, there is no guarantee that the resulting model will handle complex scenarios or generalize better. Moreover, existing techniques rarely assess whether a training sample provides novel information or is redundant with the knowledge already acquired by the model, resulting in unnecessary costs. In this work, we explore a new test-time self-improvement method to create more effective and generalizable agentic LMs on-the-fly. The proposed algorithm can be summarized in three steps: (i) first it identifies the samples that model struggles with (self-awareness), (ii) then generates similar examples from detected uncertain samples (self-data augmentation), and (iii) uses these newly generated samples at test-time fine-tuning (self-improvement). We study two variants of this approach: Test-Time Self-Improvement (TT-SI), where the same model generates additional training examples from its own uncertain cases and then learns from them, and contrast this approach with Test-Time Distillation (TT-D), where a stronger model generates similar examples for uncertain cases, enabling student to adapt using distilled supervision. Empirical evaluations across different agent benchmarks demonstrate that TT-SI improves the performance with +5.48% absolute accuracy gain on average across all benchmarks and surpasses other standard learning methods, yet using 68x less training samples. Our findings highlight the promise of TT-SI, demonstrating the potential of self-improvement algorithms at test-time as a new paradigm for building more capable agents toward self-evolution.

Egocentric human motion generation and forecasting with scene-context is crucial for enhancing AR/VR experiences, improving human-robot interaction, advancing assistive technologies, and enabling adaptive healthcare solutions by accurately predicting and simulating movement from a first-person perspective. However, existing methods primarily focus on third-person motion synthesis with structured 3D scene contexts, limiting their effectiveness in real-world egocentric settings where limited field of view, frequent occlusions, and dynamic cameras hinder scene perception. To bridge this gap, we introduce Egocentric Motion Generation and Egocentric Motion Forecasting, two novel tasks that utilize first-person images for scene-aware motion synthesis without relying on explicit 3D scene. We propose UniEgoMotion, a unified conditional motion diffusion model with a novel head-centric motion representation tailored for egocentric devices. UniEgoMotion's simple yet effective design supports egocentric motion reconstruction, forecasting, and generation from first-person visual inputs in a unified framework. Unlike previous works that overlook scene semantics, our model effectively extracts image-based scene context to infer plausible 3D motion. To facilitate training, we introduce EE4D-Motion, a large-scale dataset derived from EgoExo4D, augmented with pseudo-ground-truth 3D motion annotations. UniEgoMotion achieves state-of-the-art performance in egocentric motion reconstruction and is the first to generate motion from a single egocentric image. Extensive evaluations demonstrate the effectiveness of our unified framework, setting a new benchmark for egocentric motion modeling and unlocking new possibilities for egocentric applications.

Recent studies have identified that language models, pretrained on text-only datasets, often lack elementary visual knowledge, e.g., colors of everyday objects. Motivated by this observation, we ask whether a similar shortcoming exists in terms of the auditory knowledge. To answer this question, we construct a new dataset called AuditoryBench, which consists of two novel tasks for evaluating auditory knowledge. Based on our analysis using the benchmark, we find that language models also suffer from a severe lack of auditory knowledge. To address this limitation, we propose AudioBERT, a novel method to augment the auditory knowledge of BERT through a retrieval-based approach. First, we detect auditory knowledge spans in prompts to query our retrieval model efficiently. Then, we inject audio knowledge into BERT and switch on low-rank adaptation for effective adaptation when audio knowledge is required. Our experiments demonstrate that AudioBERT is quite effective, achieving superior performance on the AuditoryBench. The dataset and code are available at https://github.com/HJ-Ok/AudioBERT.

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained understanding models for perception and instruction following, their ability to generalize to novel tasks, objects, and settings remains limited. In this work, we present VideoVLA, a simple approach that explores the potential of transforming large video generation models into robotic VLA manipulators. Given a language instruction and an image, VideoVLA predicts an action sequence as well as the future visual outcomes. Built on a multi-modal Diffusion Transformer, VideoVLA jointly models video, language, and action modalities, using pre-trained video generative models for joint visual and action forecasting. Our experiments show that high-quality imagined futures correlate with reliable action predictions and task success, highlighting the importance of visual imagination in manipulation. VideoVLA demonstrates strong generalization, including imitating other embodiments' skills and handling novel objects. This dual-prediction strategy - forecasting both actions and their visual consequences - explores a paradigm shift in robot learning and unlocks generalization capabilities in manipulation systems.

We introduce ARC-AGI-3, an interactive benchmark for studying agentic intelligence through novel, abstract, turn-based environments in which agents must explore, infer goals, build internal models of environment dynamics, and plan effective action sequences without explicit instructions. Like its predecessors ARC-AGI-1 and 2, ARC-AGI-3 focuses entirely on evaluating fluid adaptive efficiency on novel tasks, while avoiding language and external knowledge. ARC-AGI-3 environments only leverage Core Knowledge priors and are difficulty-calibrated via extensive testing with human test-takers. Our testing shows humans can solve 100% of the environments, in contrast to frontier AI systems which, as of March 2026, score below 1%. In this paper, we present the benchmark design, its efficiency-based scoring framework grounded in human action baselines, and the methodology used to construct, validate, and calibrate the environments.

Long-context language models (LCLMs) have the potential to revolutionize our approach to tasks traditionally reliant on external tools like retrieval systems or databases. Leveraging LCLMs' ability to natively ingest and process entire corpora of information offers numerous advantages. It enhances user-friendliness by eliminating the need for specialized knowledge of tools, provides robust end-to-end modeling that minimizes cascading errors in complex pipelines, and allows for the application of sophisticated prompting techniques across the entire system. To assess this paradigm shift, we introduce LOFT, a benchmark of real-world tasks requiring context up to millions of tokens designed to evaluate LCLMs' performance on in-context retrieval and reasoning. Our findings reveal LCLMs' surprising ability to rival state-of-the-art retrieval and RAG systems, despite never having been explicitly trained for these tasks. However, LCLMs still face challenges in areas like compositional reasoning that are required in SQL-like tasks. Notably, prompting strategies significantly influence performance, emphasizing the need for continued research as context lengths grow. Overall, LOFT provides a rigorous testing ground for LCLMs, showcasing their potential to supplant existing paradigms and tackle novel tasks as model capabilities scale.

In recent years, large pre-trained language models (LLMs) have demonstrated the ability to follow instructions and perform novel tasks from a few examples. The possibility to parameterise an LLM through such in-context examples widens their capability at a much lower cost than finetuning. We extend this line of reasoning and present a method which further expands the capabilities of an LLM by embedding it within an algorithm or program. To demonstrate the benefits of this approach, we present an illustrative example of evidence-supported question-answering. We obtain a 6.4\% improvement over the chain of thought baseline through a more algorithmic approach without any finetuning. Furthermore, we highlight recent work from this perspective and discuss the advantages and disadvantages in comparison to the standard approaches.

The Abstraction and Reasoning Corpus for Artificial General Intelligence (ARC-AGI), introduced in 2019, established a challenging benchmark for evaluating the general fluid intelligence of artificial systems via a set of unique, novel tasks only requiring minimal prior knowledge. While ARC-AGI has spurred significant research activity over the past five years, recent AI progress calls for benchmarks capable of finer-grained evaluation at higher levels of cognitive complexity. We introduce ARC-AGI-2, an upgraded version of the benchmark. ARC-AGI-2 preserves the input-output pair task format of its predecessor, ensuring continuity for researchers. It incorporates a newly curated and expanded set of tasks specifically designed to provide a more granular signal to assess abstract reasoning and problem-solving abilities at higher levels of fluid intelligence. To contextualize the difficulty and characteristics of ARC-AGI-2, we present extensive results from human testing, providing a robust baseline that highlights the benchmark's accessibility to human intelligence, yet difficulty for current AI systems. ARC-AGI-2 aims to serve as a next-generation tool for rigorously measuring progress towards more general and human-like AI capabilities.

Recent work shows Large Language Models (LLMs) struggle to understand natural language constraints for various text generation tasks in zero- and few-shot settings. While, in the code domain, there is wide usage of constraints in code format to maintain the integrity of code written in Domain-Specific Languages (DSLs) like JSON and YAML which are widely used for system-level programming tasks in enterprises. Given that LLMs are increasingly used for system-level code tasks, evaluating if they can comprehend these code constraints is crucial. However, no work has been done to evaluate their controllability over code constraints. Hence, we introduce ConCodeEval, a first-of-its-kind benchmark having two novel tasks for code constraints across five representations. Our findings suggest that language models struggle with code constraints. Code languages that perform excellently for normal code tasks do not perform well when the same languages represent fine-grained constraints.

Building agents that autonomously operate mobile devices has attracted increasing attention. While Vision-Language Models (VLMs) show promise, most existing approaches rely on direct state-to-action mappings, which lack structured reasoning and planning, and thus generalize poorly to novel tasks or unseen UI layouts. We introduce Hi-Agent, a trainable hierarchical vision-language agent for mobile control, featuring a high-level reasoning model and a low-level action model that are jointly optimized. For efficient training, we reformulate multi-step decision-making as a sequence of single-step subgoals and propose a foresight advantage function, which leverages execution feedback from the low-level model to guide high-level optimization. This design alleviates the path explosion issue encountered by Group Relative Policy Optimization (GRPO) in long-horizon tasks and enables stable, critic-free joint training. Hi-Agent achieves a new State-Of-The-Art (SOTA) 87.9% task success rate on the Android-in-the-Wild (AitW) benchmark, significantly outperforming prior methods across three paradigms: prompt-based (AppAgent: 17.7%), supervised (Filtered BC: 54.5%), and reinforcement learning-based (DigiRL: 71.9%). It also demonstrates competitive zero-shot generalization on the ScreenSpot-v2 benchmark. On the more challenging AndroidWorld benchmark, Hi-Agent also scales effectively with larger backbones, showing strong adaptability in high-complexity mobile control scenarios.

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models. DreamGen leverages state-of-the-art image-to-video generative models, adapting them to the target robot embodiment to produce photorealistic synthetic videos of familiar or novel tasks in diverse environments. Since these models generate only videos, we recover pseudo-action sequences using either a latent action model or an inverse-dynamics model (IDM). Despite its simplicity, DreamGen unlocks strong behavior and environment generalization: a humanoid robot can perform 22 new behaviors in both seen and unseen environments, while requiring teleoperation data from only a single pick-and-place task in one environment. To evaluate the pipeline systematically, we introduce DreamGen Bench, a video generation benchmark that shows a strong correlation between benchmark performance and downstream policy success. Our work establishes a promising new axis for scaling robot learning well beyond manual data collection.

Large language models (LLMs) represent a transformative class of AI tools capable of revolutionizing various aspects of healthcare by generating human-like responses across diverse contexts and adapting to novel tasks following human instructions. Their potential application spans a broad range of medical tasks, such as clinical documentation, matching patients to clinical trials, and answering medical questions. In this primer paper, we propose an actionable guideline to help healthcare professionals more efficiently utilize LLMs in their work, along with a set of best practices. This approach consists of several main phases, including formulating the task, choosing LLMs, prompt engineering, fine-tuning, and deployment. We start with the discussion of critical considerations in identifying healthcare tasks that align with the core capabilities of LLMs and selecting models based on the selected task and data, performance requirements, and model interface. We then review the strategies, such as prompt engineering and fine-tuning, to adapt standard LLMs to specialized medical tasks. Deployment considerations, including regulatory compliance, ethical guidelines, and continuous monitoring for fairness and bias, are also discussed. By providing a structured step-by-step methodology, this tutorial aims to equip healthcare professionals with the tools necessary to effectively integrate LLMs into clinical practice, ensuring that these powerful technologies are applied in a safe, reliable, and impactful manner.

Existing research has demonstrated that refining large language models (LLMs) through the utilization of machine-generated instruction-following data empowers these models to exhibit impressive zero-shot capabilities for novel tasks, without requiring human-authored instructions. In this paper, we systematically investigate, preprocess, and integrate three Chinese instruction-following datasets with the aim of enhancing the Chinese conversational capabilities of Mixtral-8x7B sparse Mixture-of-Experts model. Through instruction fine-tuning on this carefully processed dataset, we successfully construct the Mixtral-8x7B sparse Mixture-of-Experts model named "Aurora." To assess the performance of Aurora, we utilize three widely recognized benchmark tests: C-Eval, MMLU, and CMMLU. Empirical studies validate the effectiveness of instruction fine-tuning applied to Mixtral-8x7B sparse Mixture-of-Experts model. This work is pioneering in the execution of instruction fine-tuning on a sparse expert-mixed model, marking a significant breakthrough in enhancing the capabilities of this model architecture. Our code, data and model are publicly available at https://github.com/WangRongsheng/Aurora

Context-based fine-tuning methods, including prompting, in-context learning, soft prompting (also known as prompt tuning), and prefix-tuning, have gained popularity due to their ability to often match the performance of full fine-tuning with a fraction of the parameters. Despite their empirical successes, there is little theoretical understanding of how these techniques influence the internal computation of the model and their expressiveness limitations. We show that despite the continuous embedding space being more expressive than the discrete token space, soft-prompting and prefix-tuning are strictly less expressive than full fine-tuning, even with the same number of learnable parameters. Concretely, context-based fine-tuning cannot change the relative attention pattern over the content and can only bias the outputs of an attention layer in a fixed direction. This suggests that while techniques like prompting, in-context learning, soft prompting, and prefix-tuning can effectively elicit skills present in the pretrained model, they cannot learn novel tasks that require new attention patterns.

Language is often considered a key aspect of human thinking, providing us with exceptional abilities to generalize, explore, plan, replan, and adapt to new situations. However, Reinforcement Learning (RL) agents are far from human-level performance in any of these abilities. We hypothesize one reason for such cognitive deficiencies is that they lack the benefits of thinking in language and that we can improve AI agents by training them to think like humans do. We introduce a novel Imitation Learning framework, Thought Cloning, where the idea is to not just clone the behaviors of human demonstrators, but also the thoughts humans have as they perform these behaviors. While we expect Thought Cloning to truly shine at scale on internet-sized datasets of humans thinking out loud while acting (e.g. online videos with transcripts), here we conduct experiments in a domain where the thinking and action data are synthetically generated. Results reveal that Thought Cloning learns much faster than Behavioral Cloning and its performance advantage grows the further out of distribution test tasks are, highlighting its ability to better handle novel situations. Thought Cloning also provides important benefits for AI Safety and Interpretability, and makes it easier to debug and improve AI. Because we can observe the agent's thoughts, we can (1) more easily diagnose why things are going wrong, making it easier to fix the problem, (2) steer the agent by correcting its thinking, or (3) prevent it from doing unsafe things it plans to do. Overall, by training agents how to think as well as behave, Thought Cloning creates safer, more powerful agents.

News article revision histories provide clues to narrative and factual evolution in news articles. To facilitate analysis of this evolution, we present the first publicly available dataset of news revision histories, NewsEdits. Our dataset is large-scale and multilingual; it contains 1.2 million articles with 4.6 million versions from over 22 English- and French-language newspaper sources based in three countries, spanning 15 years of coverage (2006-2021). We define article-level edit actions: Addition, Deletion, Edit and Refactor, and develop a high-accuracy extraction algorithm to identify these actions. To underscore the factual nature of many edit actions, we conduct analyses showing that added and deleted sentences are more likely to contain updating events, main content and quotes than unchanged sentences. Finally, to explore whether edit actions are predictable, we introduce three novel tasks aimed at predicting actions performed during version updates. We show that these tasks are possible for expert humans but are challenging for large NLP models. We hope this can spur research in narrative framing and help provide predictive tools for journalists chasing breaking news.

We present Premier-TACO, a multitask feature representation learning approach designed to improve few-shot policy learning efficiency in sequential decision-making tasks. Premier-TACO leverages a subset of multitask offline datasets for pretraining a general feature representation, which captures critical environmental dynamics and is fine-tuned using minimal expert demonstrations. It advances the temporal action contrastive learning (TACO) objective, known for state-of-the-art results in visual control tasks, by incorporating a novel negative example sampling strategy. This strategy is crucial in significantly boosting TACO's computational efficiency, making large-scale multitask offline pretraining feasible. Our extensive empirical evaluation in a diverse set of continuous control benchmarks including Deepmind Control Suite, MetaWorld, and LIBERO demonstrate Premier-TACO's effectiveness in pretraining visual representations, significantly enhancing few-shot imitation learning of novel tasks. Our code, pretraining data, as well as pretrained model checkpoints will be released at https://github.com/PremierTACO/premier-taco.

Aligned large language models (LLMs) demonstrate exceptional capabilities in task-solving, following instructions, and ensuring safety. However, the continual learning aspect of these aligned LLMs has been largely overlooked. Existing continual learning benchmarks lack sufficient challenge for leading aligned LLMs, owing to both their simplicity and the models' potential exposure during instruction tuning. In this paper, we introduce TRACE, a novel benchmark designed to evaluate continual learning in LLMs. TRACE consists of 8 distinct datasets spanning challenging tasks including domain-specific tasks, multilingual capabilities, code generation, and mathematical reasoning. All datasets are standardized into a unified format, allowing for effortless automatic evaluation of LLMs. Our experiments show that after training on TRACE, aligned LLMs exhibit significant declines in both general ability and instruction-following capabilities. For example, the accuracy of llama2-chat 13B on gsm8k dataset declined precipitously from 28.8\% to 2\% after training on our datasets. This highlights the challenge of finding a suitable tradeoff between achieving performance on specific tasks while preserving the original prowess of LLMs. Empirical findings suggest that tasks inherently equipped with reasoning paths contribute significantly to preserving certain capabilities of LLMs against potential declines. Motivated by this, we introduce the Reasoning-augmented Continual Learning (RCL) approach. RCL integrates task-specific cues with meta-rationales, effectively reducing catastrophic forgetting in LLMs while expediting convergence on novel tasks.

Model distillation is a technique for transferring knowledge from large language models (LLMs) to smaller ones, aiming to create resource-efficient yet high-performing models. However, excessive distillation can lead to homogenization, reducing diversity among models and impairing their ability to robustly handle complex or novel tasks. These limitations underscore the need to systematically quantify the distillation process and its impact. In this work, we propose a framework to evaluate and quantify model distillation. Our method addresses two key aspects: (1) Identifying identity cognition contradictions to assess discrepancies in how models perceive and represent identity-related information, and (2) Analyzing multi-granularity response similarities across models to measure the extent of homogenization. Experimental results demonstrate two key insights: (1) Well-known closed-source and open-source LLMs usually exhibit high distillation degrees, except for Claude, Doubao, and Gemini. (2) Base LLMs show higher distillation degrees compared to aligned LLMs. By offering a systematic approach to improve the transparency of LLM data distillation, we call for LLMs with more independent development and more transparent technical reports to improve LLMs' robustness and safety. The code and data are available under https://github.com/Aegis1863/LLMs-Distillation-Quantification.

Prompting and fine-tuning have emerged as two competing paradigms for augmenting language models with new capabilities, such as the use of tools. Prompting approaches are quick to set up but rely on providing explicit demonstrations of each tool's usage in the model's prompt, thus coupling tool use to the task at hand and limiting generalisation. Fine-tuning removes the need for task-specific demonstrations of tool usage at runtime; however, this ties new capabilities to a single model, thus making already-heavier setup costs a recurring expense. In this paper, we introduce language hooks, a novel framework for augmenting language models with new capabilities that is decoupled both from the model's task-specific prompt and from the model itself. The language hook algorithm interleaves text generation by the base model with the execution of modular programs that trigger conditionally based on the existing text and the available capabilities. Upon triggering, programs may call external tools, auxiliary language models (e.g. using tool specific prompts), and modify the existing context. We benchmark our method against state-of-the-art baselines, find that it outperforms task-aware approaches, and demonstrate its ability to generalise to novel tasks.

Recently, Instruction fine-tuning has risen to prominence as a potential method for enhancing the zero-shot capabilities of Large Language Models (LLMs) on novel tasks. This technique has shown an exceptional ability to boost the performance of moderately sized LLMs, sometimes even reaching performance levels comparable to those of much larger model variants. The focus is on the robustness of instruction-tuned LLMs to seen and unseen tasks. We conducted an exploration of six models including Alpaca, Vicuna, WizardLM, and Traditional Task-oriented Models(Flan-T5-XL/XXL, T0++) using real-world relation extraction datasets as case studies. We carried out a comprehensive evaluation of these instruction-following LLMs which have been tuned based on open-domain instructions and task-oriented instructions. The main discussion is their performance and robustness towards instructions. We have observed that in most cases, the model's performance in dealing with unfamiliar instructions tends to worsen significantly, and the robustness of the model for RE instructions deteriorates compared to QA. Further, we discovered that up until a certain parameter size threshold (3B), the performance of the FLAN-T5 model improves as the parameter count increases. The robustness of different scales of FLAN-T5 models to RE instruction is worse than the robustness to QA instruction.

A central problem in learning from sequential data is representing cumulative history in an incremental fashion as more data is processed. We introduce a general framework (HiPPO) for the online compression of continuous signals and discrete time series by projection onto polynomial bases. Given a measure that specifies the importance of each time step in the past, HiPPO produces an optimal solution to a natural online function approximation problem. As special cases, our framework yields a short derivation of the recent Legendre Memory Unit (LMU) from first principles, and generalizes the ubiquitous gating mechanism of recurrent neural networks such as GRUs. This formal framework yields a new memory update mechanism (HiPPO-LegS) that scales through time to remember all history, avoiding priors on the timescale. HiPPO-LegS enjoys the theoretical benefits of timescale robustness, fast updates, and bounded gradients. By incorporating the memory dynamics into recurrent neural networks, HiPPO RNNs can empirically capture complex temporal dependencies. On the benchmark permuted MNIST dataset, HiPPO-LegS sets a new state-of-the-art accuracy of 98.3%. Finally, on a novel trajectory classification task testing robustness to out-of-distribution timescales and missing data, HiPPO-LegS outperforms RNN and neural ODE baselines by 25-40% accuracy.

Advancements in computer-assisted surgical procedures heavily rely on accurate visual data interpretation from camera systems used during surgeries. Traditional open-access datasets focusing on surgical procedures are often limited by their small size, typically consisting of fewer than 100 videos with less than 100K images. To address these constraints, a new dataset called Surg-3M has been compiled using a novel aggregation pipeline that collects high-resolution videos from online sources. Featuring an extensive collection of over 4K surgical videos and more than 3 million high-quality images from multiple procedure types, Surg-3M offers a comprehensive resource surpassing existing alternatives in size and scope, including two novel tasks. To demonstrate the effectiveness of this dataset, we present SurgFM, a self-supervised foundation model pretrained on Surg-3M that achieves impressive results in downstream tasks such as surgical phase recognition, action recognition, and tool presence detection. Combining key components from ConvNeXt, DINO, and an innovative augmented distillation method, SurgFM exhibits exceptional performance compared to specialist architectures across various benchmarks. Our experimental results show that SurgFM outperforms state-of-the-art models in multiple downstream tasks, including significant gains in surgical phase recognition (+8.9pp, +4.7pp, and +3.9pp of Jaccard in AutoLaparo, M2CAI16, and Cholec80), action recognition (+3.1pp of mAP in CholecT50) and tool presence detection (+4.6pp of mAP in Cholec80). Moreover, even when using only half of the data, SurgFM outperforms state-of-the-art models in AutoLaparo and achieves state-of-the-art performance in Cholec80. Both Surg-3M and SurgFM have significant potential to accelerate progress towards developing autonomous robotic surgery systems.

Open-ended and AI-generating algorithms aim to continuously generate and solve increasingly complex tasks indefinitely, offering a promising path toward more general intelligence. To accomplish this grand vision, learning must occur within a vast array of potential tasks. Existing approaches to automatically generating environments are constrained within manually predefined, often narrow distributions of environment, limiting their ability to create any learning environment. To address this limitation, we introduce a novel framework, OMNI-EPIC, that augments previous work in Open-endedness via Models of human Notions of Interestingness (OMNI) with Environments Programmed in Code (EPIC). OMNI-EPIC leverages foundation models to autonomously generate code specifying the next learnable (i.e., not too easy or difficult for the agent's current skill set) and interesting (e.g., worthwhile and novel) tasks. OMNI-EPIC generates both environments (e.g., an obstacle course) and reward functions (e.g., progress through the obstacle course quickly without touching red objects), enabling it, in principle, to create any simulatable learning task. We showcase the explosive creativity of OMNI-EPIC, which continuously innovates to suggest new, interesting learning challenges. We also highlight how OMNI-EPIC can adapt to reinforcement learning agents' learning progress, generating tasks that are of suitable difficulty. Overall, OMNI-EPIC can endlessly create learnable and interesting environments, further propelling the development of self-improving AI systems and AI-Generating Algorithms. Project website with videos: https://dub.sh/omniepic

We study the problem of offline pre-training and online fine-tuning for reinforcement learning from high-dimensional observations in the context of realistic robot tasks. Recent offline model-free approaches successfully use online fine-tuning to either improve the performance of the agent over the data collection policy or adapt to novel tasks. At the same time, model-based RL algorithms have achieved significant progress in sample efficiency and the complexity of the tasks they can solve, yet remain under-utilized in the fine-tuning setting. In this work, we argue that existing model-based offline RL methods are not suitable for offline-to-online fine-tuning in high-dimensional domains due to issues with distribution shifts, off-dynamics data, and non-stationary rewards. We propose an on-policy model-based method that can efficiently reuse prior data through model-based value expansion and policy regularization, while preventing model exploitation by controlling epistemic uncertainty. We find that our approach successfully solves tasks from the MetaWorld benchmark, as well as the Franka Kitchen robot manipulation environment completely from images. To the best of our knowledge, MOTO is the first method to solve this environment from pixels.

Large-scale task planning is a major challenge. Recent work exploits large language models (LLMs) directly as a policy and shows surprisingly interesting results. This paper shows that LLMs provide a commonsense model of the world in addition to a policy that acts on it. The world model and the policy can be combined in a search algorithm, such as Monte Carlo Tree Search (MCTS), to scale up task planning. In our new LLM-MCTS algorithm, the LLM-induced world model provides a commonsense prior belief for MCTS to achieve effective reasoning; the LLM-induced policy acts as a heuristic to guide the search, vastly improving search efficiency. Experiments show that LLM-MCTS outperforms both MCTS alone and policies induced by LLMs (GPT2 and GPT3.5) by a wide margin, for complex, novel tasks. Further experiments and analyses on multiple tasks -- multiplication, multi-hop travel planning, object rearrangement -- suggest minimum description length (MDL) as a general guiding principle: if the description length of the world model is substantially smaller than that of the policy, using LLM as a world model for model-based planning is likely better than using LLM solely as a policy.

Recently, speech-text pre-training methods have shown remarkable success in many speech and natural language processing tasks. However, most previous pre-trained models are usually tailored for one or two specific tasks, but fail to conquer a wide range of speech-text tasks. In addition, existing speech-text pre-training methods fail to explore the contextual information within a dialogue to enrich utterance representations. In this paper, we propose Speech-text dialog Pre-training for spoken dialog understanding with ExpliCiT cRoss-Modal Alignment (SPECTRA), which is the first-ever speech-text dialog pre-training model. Concretely, to consider the temporality of speech modality, we design a novel temporal position prediction task to capture the speech-text alignment. This pre-training task aims to predict the start and end time of each textual word in the corresponding speech waveform. In addition, to learn the characteristics of spoken dialogs, we generalize a response selection task from textual dialog pre-training to speech-text dialog pre-training scenarios. Experimental results on four different downstream speech-text tasks demonstrate the superiority of SPECTRA in learning speech-text alignment and multi-turn dialog context.

An increasing number of public datasets have shown a marked impact on automated organ segmentation and tumor detection. However, due to the small size and partially labeled problem of each dataset, as well as a limited investigation of diverse types of tumors, the resulting models are often limited to segmenting specific organs/tumors and ignore the semantics of anatomical structures, nor can they be extended to novel domains. To address these issues, we propose the CLIP-Driven Universal Model, which incorporates text embedding learned from Contrastive Language-Image Pre-training (CLIP) to segmentation models. This CLIP-based label encoding captures anatomical relationships, enabling the model to learn a structured feature embedding and segment 25 organs and 6 types of tumors. The proposed model is developed from an assembly of 14 datasets, using a total of 3,410 CT scans for training and then evaluated on 6,162 external CT scans from 3 additional datasets. We rank first on the Medical Segmentation Decathlon (MSD) public leaderboard and achieve state-of-the-art results on Beyond The Cranial Vault (BTCV). Additionally, the Universal Model is computationally more efficient (6x faster) compared with dataset-specific models, generalized better to CT scans from varying sites, and shows stronger transfer learning performance on novel tasks.