From Multimodal LLMs to Generalist Embodied Agents: Methods and Lessons

We examine the capability of Multimodal Large Language Models (MLLMs) to tackle diverse domains that extend beyond the traditional language and vision tasks these models are typically trained on. Specifically, our focus lies in areas such as Embodied AI, Games, UI Control, and Planning. To this end, we introduce a process of adapting an MLLM to a Generalist Embodied Agent (GEA). GEA is a single unified model capable of grounding itself across these varied domains through a multi-embodiment action tokenizer. GEA is trained with supervised learning on a large dataset of embodied experiences and with online RL in interactive simulators. We explore the data and algorithmic choices necessary to develop such a model. Our findings reveal the importance of training with cross-domain data and online RL for building generalist agents. The final GEA model achieves strong generalization performance to unseen tasks across diverse benchmarks compared to other generalist models and benchmark-specific approaches.

AGRaME: Any-Granularity Ranking with Multi-Vector Embeddings

Ranking is a fundamental and popular problem in search. However, existing ranking algorithms usually restrict the granularity of ranking to full passages or require a specific dense index for each desired level of granularity. Such lack of flexibility in granularity negatively affects many applications that can benefit from more granular ranking, such as sentence-level ranking for open-domain question-answering, or proposition-level ranking for attribution. In this work, we introduce the idea of any-granularity ranking, which leverages multi-vector embeddings to rank at varying levels of granularity while maintaining encoding at a single (coarser) level of granularity. We propose a multi-granular contrastive loss for training multi-vector approaches, and validate its utility with both sentences and propositions as ranking units. Finally, we demonstrate the application of proposition-level ranking to post-hoc citation addition in retrieval-augmented generation, surpassing the performance of prompt-driven citation generation.

Entity Disambiguation via Fusion Entity Decoding

Entity disambiguation (ED), which links the mentions of ambiguous entities to their referent entities in a knowledge base, serves as a core component in entity linking (EL). Existing generative approaches demonstrate improved accuracy compared to classification approaches under the standardized ZELDA benchmark. Nevertheless, generative approaches suffer from the need for large-scale pre-training and inefficient generation. Most importantly, entity descriptions, which could contain crucial information to distinguish similar entities from each other, are often overlooked. We propose an encoder-decoder model to disambiguate entities with more detailed entity descriptions. Given text and candidate entities, the encoder learns interactions between the text and each candidate entity, producing representations for each entity candidate. The decoder then fuses the representations of entity candidates together and selects the correct entity. Our experiments, conducted on various entity disambiguation benchmarks, demonstrate the strong and robust performance of this model, particularly +1.5% in the ZELDA benchmark compared with GENRE. Furthermore, we integrate this approach into the retrieval/reader framework and observe +1.5% improvements in end-to-end entity linking in the GERBIL benchmark compared with EntQA.