From Imitation to Introspection: Probing Self-Consciousness in Language Models

Self-consciousness, the introspection of one's existence and thoughts, represents a high-level cognitive process. As language models advance at an unprecedented pace, a critical question arises: Are these models becoming self-conscious? Drawing upon insights from psychological and neural science, this work presents a practical definition of self-consciousness for language models and refines ten core concepts. Our work pioneers an investigation into self-consciousness in language models by, for the first time, leveraging causal structural games to establish the functional definitions of the ten core concepts. Based on our definitions, we conduct a comprehensive four-stage experiment: quantification (evaluation of ten leading models), representation (visualization of self-consciousness within the models), manipulation (modification of the models' representation), and acquisition (fine-tuning the models on core concepts). Our findings indicate that although models are in the early stages of developing self-consciousness, there is a discernible representation of certain concepts within their internal mechanisms. However, these representations of self-consciousness are hard to manipulate positively at the current stage, yet they can be acquired through targeted fine-tuning. Our datasets and code are at https://github.com/OpenCausaLab/SelfConsciousness.

ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback

Recent progress in imitation learning from human demonstrations has shown promising results in teaching robots manipulation skills. To further scale up training datasets, recent works start to use portable data collection devices without the need for physical robot hardware. However, due to the absence of on-robot feedback during data collection, the data quality depends heavily on user expertise, and many devices are limited to specific robot embodiments. We propose ARCap, a portable data collection system that provides visual feedback through augmented reality (AR) and haptic warnings to guide users in collecting high-quality demonstrations. Through extensive user studies, we show that ARCap enables novice users to collect robot-executable data that matches robot kinematics and avoids collisions with the scenes. With data collected from ARCap, robots can perform challenging tasks, such as manipulation in cluttered environments and long-horizon cross-embodiment manipulation. ARCap is fully open-source and easy to calibrate; all components are built from off-the-shelf products. More details and results can be found on our website: https://stanford-tml.github.io/ARCap

CLEAR: Can Language Models Really Understand Causal Graphs?

Causal reasoning is a cornerstone of how humans interpret the world. To model and reason about causality, causal graphs offer a concise yet effective solution. Given the impressive advancements in language models, a crucial question arises: can they really understand causal graphs? To this end, we pioneer an investigation into language models' understanding of causal graphs. Specifically, we develop a framework to define causal graph understanding, by assessing language models' behaviors through four practical criteria derived from diverse disciplines (e.g., philosophy and psychology). We then develop CLEAR, a novel benchmark that defines three complexity levels and encompasses 20 causal graph-based tasks across these levels. Finally, based on our framework and benchmark, we conduct extensive experiments on six leading language models and summarize five empirical findings. Our results indicate that while language models demonstrate a preliminary understanding of causal graphs, significant potential for improvement remains. Our project website is at https://github.com/OpenCausaLab/CLEAR.

Do Not Wait: Learning Re-Ranking Model Without User Feedback At Serving Time in E-Commerce

Recommender systems have been widely used in e-commerce, and re-ranking models are playing an increasingly significant role in the domain, which leverages the inter-item influence and determines the final recommendation lists. Online learning methods keep updating a deployed model with the latest available samples to capture the shifting of the underlying data distribution in e-commerce. However, they depend on the availability of real user feedback, which may be delayed by hours or even days, such as item purchases, leading to a lag in model enhancement. In this paper, we propose a novel extension of online learning methods for re-ranking modeling, which we term LAST, an acronym for Learning At Serving Time. It circumvents the requirement of user feedback by using a surrogate model to provide the instructional signal needed to steer model improvement. Upon receiving an online request, LAST finds and applies a model modification on the fly before generating a recommendation result for the request. The modification is request-specific and transient. It means the modification is tailored to and only to the current request to capture the specific context of the request. After a request, the modification is discarded, which helps to prevent error propagation and stabilizes the online learning procedure since the predictions of the surrogate model may be inaccurate. Most importantly, as a complement to feedback-based online learning methods, LAST can be seamlessly integrated into existing online learning systems to create a more adaptive and responsive recommendation experience. Comprehensive experiments, both offline and online, affirm that LAST outperforms state-of-the-art re-ranking models.

ReCODE: Modeling Repeat Consumption with Neural ODE

In real-world recommender systems, such as in the music domain, repeat consumption is a common phenomenon where users frequently listen to a small set of preferred songs or artists repeatedly. The key point of modeling repeat consumption is capturing the temporal patterns between a user's repeated consumption of the items. Existing studies often rely on heuristic assumptions, such as assuming an exponential distribution for the temporal gaps. However, due to the high complexity of real-world recommender systems, these pre-defined distributions may fail to capture the intricate dynamic user consumption patterns, leading to sub-optimal performance. Drawing inspiration from the flexibility of neural ordinary differential equations (ODE) in capturing the dynamics of complex systems, we propose ReCODE, a novel model-agnostic framework that utilizes neural ODE to model repeat consumption. ReCODE comprises two essential components: a user's static preference prediction module and the modeling of user dynamic repeat intention. By considering both immediate choices and historical consumption patterns, ReCODE offers comprehensive modeling of user preferences in the target context. Moreover, ReCODE seamlessly integrates with various existing recommendation models, including collaborative-based and sequential-based models, making it easily applicable in different scenarios. Experimental results on two real-world datasets consistently demonstrate that ReCODE significantly improves the performance of base models and outperforms other baseline methods.

Causal Evaluation of Language Models

Causal reasoning is viewed as crucial for achieving human-level machine intelligence. Recent advances in language models have expanded the horizons of artificial intelligence across various domains, sparking inquiries into their potential for causal reasoning. In this work, we introduce Causal evaluation of Language Models (CaLM), which, to the best of our knowledge, is the first comprehensive benchmark for evaluating the causal reasoning capabilities of language models. First, we propose the CaLM framework, which establishes a foundational taxonomy consisting of four modules: causal target (i.e., what to evaluate), adaptation (i.e., how to obtain the results), metric (i.e., how to measure the results), and error (i.e., how to analyze the bad results). This taxonomy defines a broad evaluation design space while systematically selecting criteria and priorities. Second, we compose the CaLM dataset, comprising 126,334 data samples, to provide curated sets of causal targets, adaptations, metrics, and errors, offering extensive coverage for diverse research pursuits. Third, we conduct an extensive evaluation of 28 leading language models on a core set of 92 causal targets, 9 adaptations, 7 metrics, and 12 error types. Fourth, we perform detailed analyses of the evaluation results across various dimensions (e.g., adaptation, scale). Fifth, we present 50 high-level empirical findings across 9 dimensions (e.g., model), providing valuable guidance for future language model development. Finally, we develop a multifaceted platform, including a website, leaderboards, datasets, and toolkits, to support scalable and adaptable assessments. We envision CaLM as an ever-evolving benchmark for the community, systematically updated with new causal targets, adaptations, models, metrics, and error types to reflect ongoing research advancements. Project website is at https://opencausalab.github.io/CaLM.

SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty

Generating stable and robust grasps on arbitrary objects is critical for dexterous robotic hands, marking a significant step towards advanced dexterous manipulation. Previous studies have mostly focused on improving differentiable grasping metrics with the assumption of precisely known object geometry. However, shape uncertainty is ubiquitous due to noisy and partial shape observations, which introduce challenges in grasp planning. We propose, SpringGrasp planner, a planner that considers uncertain observations of the object surface for synthesizing compliant dexterous grasps. A compliant dexterous grasp could minimize the effect of unexpected contact with the object, leading to more stable grasp with shape-uncertain objects. We introduce an analytical and differentiable metric, SpringGrasp metric, that evaluates the dynamic behavior of the entire compliant grasping process. Planning with SpringGrasp planner, our method achieves a grasp success rate of 89% from two viewpoints and 84% from a single viewpoints in experiment with a real robot on 14 common objects. Compared with a force-closure based planner, our method achieves at least 18% higher grasp success rate.

SIGformer: Sign-aware Graph Transformer for Recommendation

In recommender systems, most graph-based methods focus on positive user feedback, while overlooking the valuable negative feedback. Integrating both positive and negative feedback to form a signed graph can lead to a more comprehensive understanding of user preferences. However, the existing efforts to incorporate both types of feedback are sparse and face two main limitations: 1) They process positive and negative feedback separately, which fails to holistically leverage the collaborative information within the signed graph; 2) They rely on MLPs or GNNs for information extraction from negative feedback, which may not be effective. To overcome these limitations, we introduce SIGformer, a new method that employs the transformer architecture to sign-aware graph-based recommendation. SIGformer incorporates two innovative positional encodings that capture the spectral properties and path patterns of the signed graph, enabling the full exploitation of the entire graph. Our extensive experiments across five real-world datasets demonstrate the superiority of SIGformer over state-of-the-art methods. The code is available at https://github.com/StupidThree/SIGformer.

One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting

Extrinsic manipulation, the use of environment contacts to achieve manipulation objectives, enables strategies that are otherwise impossible with a parallel jaw gripper. However, orchestrating a long-horizon sequence of contact interactions between the robot, object, and environment is notoriously challenging due to the scene diversity, large action space, and difficult contact dynamics. We observe that most extrinsic manipulation are combinations of short-horizon primitives, each of which depend strongly on initializing from a desirable contact configuration to succeed. Therefore, we propose to generalize one extrinsic manipulation trajectory to diverse objects and environments by retargeting contact requirements. We prepare a single library of robust short-horizon, goal-conditioned primitive policies, and design a framework to compose state constraints stemming from contacts specifications of each primitive. Given a test scene and a single demo prescribing the primitive sequence, our method enforces the state constraints on the test scene and find intermediate goal states using inverse kinematics. The goals are then tracked by the primitive policies. Using a 7+1 DoF robotic arm-gripper system, we achieved an overall success rate of 80.5% on hardware over 4 long-horizon extrinsic manipulation tasks, each with up to 4 primitives. Our experiments cover 10 objects and 6 environment configurations. We further show empirically that our method admits a wide range of demonstrations, and that contact retargeting is indeed the key to successfully combining primitives for long-horizon extrinsic manipulation. Code and additional details are available at stanford-tml.github.io/extrinsic-manipulation.

From GPT-4 to Gemini and Beyond: Assessing the Landscape of MLLMs on Generalizability, Trustworthiness and Causality through Four Modalities

Multi-modal Large Language Models (MLLMs) have shown impressive abilities in generating reasonable responses with respect to multi-modal contents. However, there is still a wide gap between the performance of recent MLLM-based applications and the expectation of the broad public, even though the most powerful OpenAI's GPT-4 and Google's Gemini have been deployed. This paper strives to enhance understanding of the gap through the lens of a qualitative study on the generalizability, trustworthiness, and causal reasoning capabilities of recent proprietary and open-source MLLMs across four modalities: ie, text, code, image, and video, ultimately aiming to improve the transparency of MLLMs. We believe these properties are several representative factors that define the reliability of MLLMs, in supporting various downstream applications. To be specific, we evaluate the closed-source GPT-4 and Gemini and 6 open-source LLMs and MLLMs. Overall we evaluate 230 manually designed cases, where the qualitative results are then summarized into 12 scores (ie, 4 modalities times 3 properties). In total, we uncover 14 empirical findings that are useful to understand the capabilities and limitations of both proprietary and open-source MLLMs, towards more reliable downstream multi-modal applications.