Optimizing Latent Goal by Learning from Trajectory Preference

A glowing body of work has emerged focusing on instruction-following policies for open-world agents, aiming to better align the agent's behavior with human intentions. However, the performance of these policies is highly susceptible to the initial prompt, which leads to extra efforts in selecting the best instructions. We propose a framework named Preference Goal Tuning (PGT). PGT allows an instruction following policy to interact with the environment to collect several trajectories, which will be categorized into positive and negative samples based on preference. Then we use preference learning to fine-tune the initial goal latent representation with the categorized trajectories while keeping the policy backbone frozen. The experiment result shows that with minimal data and training, PGT achieves an average relative improvement of 72.0% and 81.6% over 17 tasks in 2 different foundation policies respectively, and outperforms the best human-selected instructions. Moreover, PGT surpasses full fine-tuning in the out-of-distribution (OOD) task-execution environments by 13.4%, indicating that our approach retains strong generalization capabilities. Since our approach stores a single latent representation for each task independently, it can be viewed as an efficient method for continual learning, without the risk of catastrophic forgetting or task interference. In short, PGT enhances the performance of agents across nearly all tasks in the Minecraft Skillforge benchmark and demonstrates robustness to the execution environment.

TFG: Unified Training-Free Guidance for Diffusion Models

Given an unconditional diffusion model and a predictor for a target property of interest (e.g., a classifier), the goal of training-free guidance is to generate samples with desirable target properties without additional training. Existing methods, though effective in various individual applications, often lack theoretical grounding and rigorous testing on extensive benchmarks. As a result, they could even fail on simple tasks, and applying them to a new problem becomes unavoidably difficult. This paper introduces a novel algorithmic framework encompassing existing methods as special cases, unifying the study of training-free guidance into the analysis of an algorithm-agnostic design space. Via theoretical and empirical investigation, we propose an efficient and effective hyper-parameter searching strategy that can be readily applied to any downstream task. We systematically benchmark across 7 diffusion models on 16 tasks with 40 targets, and improve performance by 8.5% on average. Our framework and benchmark offer a solid foundation for conditional generation in a training-free manner.

OmniJARVIS: Unified Vision-Language-Action Tokenization Enables Open-World Instruction Following Agents

We present OmniJARVIS, a novel Vision-Language-Action (VLA) model for open-world instruction-following agents in open-world Minecraft. Compared to prior works that either emit textual goals to separate controllers or produce the control command directly, OmniJARVIS seeks a different path to ensure both strong reasoning and efficient decision-making capabilities via unified tokenization of multimodal interaction data. First, we introduce a self-supervised approach to learn a behavior encoder that produces discretized tokens for behavior trajectories $\tau$ = {$o_0$, $a_0$, $\dots$} and an imitation learning (IL) policy decoder conditioned on these tokens. These additional behavior tokens will be augmented to the vocabulary of pretrained Multimodal Language Models (MLMs). With this encoder, we then pack long-term multimodal interactions involving task instructions, memories, thoughts, observations, textual responses, behavior trajectories, etc. into unified token sequences and model them with autoregressive transformers. Thanks to the semantically meaningful behavior tokens, the resulting VLA model, OmniJARVIS, can reason (by producing chain-of-thoughts), plan, answer questions, and act (by producing behavior tokens for the IL policy decoder). OmniJARVIS demonstrates excellent performances on a comprehensive collection of atomic, programmatic, and open-ended tasks in open-world Minecraft. Our analysis further unveils the crucial design principles in interaction data formation, unified tokenization, and its scaling potentials.

CLoG: Benchmarking Continual Learning of Image Generation Models

Continual Learning (CL) poses a significant challenge in Artificial Intelligence, aiming to mirror the human ability to incrementally acquire knowledge and skills. While extensive research has focused on CL within the context of classification tasks, the advent of increasingly powerful generative models necessitates the exploration of Continual Learning of Generative models (CLoG). This paper advocates for shifting the research focus from classification-based CL to CLoG. We systematically identify the unique challenges presented by CLoG compared to traditional classification-based CL. We adapt three types of existing CL methodologies, replay-based, regularization-based, and parameter-isolation-based methods to generative tasks and introduce comprehensive benchmarks for CLoG that feature great diversity and broad task coverage. Our benchmarks and results yield intriguing insights that can be valuable for developing future CLoG methods. Additionally, we will release a codebase designed to facilitate easy benchmarking and experimentation in CLoG publicly at https://github.com/linhaowei1/CLoG. We believe that shifting the research focus to CLoG will benefit the continual learning community and illuminate the path for next-generation AI-generated content (AIGC) in a lifelong learning paradigm.

RAT: Retrieval Augmented Thoughts Elicit Context-Aware Reasoning in Long-Horizon Generation

We explore how iterative revising a chain of thoughts with the help of information retrieval significantly improves large language models' reasoning and generation ability in long-horizon generation tasks, while hugely mitigating hallucination. In particular, the proposed method -- *retrieval-augmented thoughts* (RAT) -- revises each thought step one by one with retrieved information relevant to the task query, the current and the past thought steps, after the initial zero-shot CoT is generated. Applying RAT to GPT-3.5, GPT-4, and CodeLLaMA-7b substantially improves their performances on various long-horizon generation tasks; on average of relatively increasing rating scores by 13.63% on code generation, 16.96% on mathematical reasoning, 19.2% on creative writing, and 42.78% on embodied task planning. The demo page can be found at https://craftjarvis.github.io/RAT

Selecting Large Language Model to Fine-tune via Rectified Scaling Law

The ever-growing ecosystem of LLMs has posed a challenge in selecting the most appropriate pre-trained model to fine-tune amidst a sea of options. Given constrained resources, fine-tuning all models and making selections afterward is unrealistic. In this work, we formulate this resource-constrained selection task into predicting fine-tuning performance and illustrate its natural connection with scaling laws. Unlike pre-training, We find that the fine-tuning scaling curve includes not just the well-known "power phase" but also the previously unobserved "pre-power phase". We also explain why existing scaling laws fail to capture this phase transition phenomenon both theoretically and empirically. To address this, we introduce the concept of "pre-learned data size" into our rectified scaling law, which overcomes theoretical limitations and fits experimental results much better. By leveraging our law, we propose a novel LLM selection algorithm that selects the near-optimal model with hundreds of times less resource consumption, while other methods may provide negatively correlated selection.

JARVIS-1: Open-World Multi-task Agents with Memory-Augmented Multimodal Language Models

Achieving human-like planning and control with multimodal observations in an open world is a key milestone for more functional generalist agents. Existing approaches can handle certain long-horizon tasks in an open world. However, they still struggle when the number of open-world tasks could potentially be infinite and lack the capability to progressively enhance task completion as game time progresses. We introduce JARVIS-1, an open-world agent that can perceive multimodal input (visual observations and human instructions), generate sophisticated plans, and perform embodied control, all within the popular yet challenging open-world Minecraft universe. Specifically, we develop JARVIS-1 on top of pre-trained multimodal language models, which map visual observations and textual instructions to plans. The plans will be ultimately dispatched to the goal-conditioned controllers. We outfit JARVIS-1 with a multimodal memory, which facilitates planning using both pre-trained knowledge and its actual game survival experiences. JARVIS-1 is the existing most general agent in Minecraft, capable of completing over 200 different tasks using control and observation space similar to humans. These tasks range from short-horizon tasks, e.g., "chopping trees" to long-horizon tasks, e.g., "obtaining a diamond pickaxe". JARVIS-1 performs exceptionally well in short-horizon tasks, achieving nearly perfect performance. In the classic long-term task of $\texttt{ObtainDiamondPickaxe}$, JARVIS-1 surpasses the reliability of current state-of-the-art agents by 5 times and can successfully complete longer-horizon and more challenging tasks. The project page is available at https://craftjarvis.org/JARVIS-1

MCU: A Task-centric Framework for Open-ended Agent Evaluation in Minecraft

To pursue the goal of creating an open-ended agent in Minecraft, an open-ended game environment with unlimited possibilities, this paper introduces a task-centric framework named MCU for Minecraft agent evaluation. The MCU framework leverages the concept of atom tasks as fundamental building blocks, enabling the generation of diverse or even arbitrary tasks. Within the MCU framework, each task is measured with six distinct difficulty scores (time consumption, operational effort, planning complexity, intricacy, creativity, novelty). These scores offer a multi-dimensional assessment of a task from different angles, and thus can reveal an agent's capability on specific facets. The difficulty scores also serve as the feature of each task, which creates a meaningful task space and unveils the relationship between tasks. For efficient evaluation of Minecraft agents employing the MCU framework, we maintain a unified benchmark, namely SkillForge, which comprises representative tasks with diverse categories and difficulty distribution. We also provide convenient filters for users to select tasks to assess specific capabilities of agents. We show that MCU has the high expressivity to cover all tasks used in recent literature on Minecraft agent, and underscores the need for advancements in areas such as creativity, precise control, and out-of-distribution generalization under the goal of open-ended Minecraft agent development.

FLatS: Principled Out-of-Distribution Detection with Feature-Based Likelihood Ratio Score

Detecting out-of-distribution (OOD) instances is crucial for NLP models in practical applications. Although numerous OOD detection methods exist, most of them are empirical. Backed by theoretical analysis, this paper advocates for the measurement of the "OOD-ness" of a test case $\boldsymbol{x}$ through the likelihood ratio between out-distribution $\mathcal P_{\textit{out}}$ and in-distribution $\mathcal P_{\textit{in}}$. We argue that the state-of-the-art (SOTA) feature-based OOD detection methods, such as Maha and KNN, are suboptimal since they only estimate in-distribution density $p_{\textit{in}}(\boldsymbol{x})$. To address this issue, we propose FLatS, a principled solution for OOD detection based on likelihood ratio. Moreover, we demonstrate that FLatS can serve as a general framework capable of enhancing other OOD detection methods by incorporating out-distribution density $p_{\textit{out}}(\boldsymbol{x})$ estimation. Experiments show that FLatS establishes a new SOTA on popular benchmarks. Our code is publicly available at https://github.com/linhaowei1/FLatS.

Class Incremental Learning via Likelihood Ratio Based Task Prediction

Class incremental learning (CIL) is a challenging setting of continual learning, which learns a series of tasks sequentially. Each task consists of a set of unique classes. The key feature of CIL is that no task identifier (or task-id) is provided at test time for each test sample. Predicting the task-id for each test sample is a challenging problem. An emerging theoretically justified and effective approach is to train a task-specific model for each task in a shared network for all tasks based on a task-incremental learning (TIL) method to deal with forgetting. The model for each task in this approach is an out-of-distribution (OOD) detector rather than a conventional classifier. The OOD detector can perform both within-task (in-distribution (IND)) class prediction and OOD detection. The OOD detection capability is the key for task-id prediction during inference for each test sample. However, this paper argues that using a traditional OOD detector for task-id prediction is sub-optimal because additional information (e.g., the replay data and the learned tasks) available in CIL can be exploited to design a better and principled method for task-id prediction. We call the new method TPLR (Task-id Prediction based on Likelihood Ratio}). TPLR markedly outperforms strong CIL baselines.