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.

ROCKET-1: Master Open-World Interaction with Visual-Temporal Context Prompting

Vision-language models (VLMs) have excelled in multimodal tasks, but adapting them to embodied decision-making in open-world environments presents challenges. A key issue is the difficulty in smoothly connecting individual entities in low-level observations with abstract concepts required for planning. A common approach to address this problem is through the use of hierarchical agents, where VLMs serve as high-level reasoners that break down tasks into executable sub-tasks, typically specified using language and imagined observations. However, language often fails to effectively convey spatial information, while generating future images with sufficient accuracy remains challenging. To address these limitations, we propose visual-temporal context prompting, a novel communication protocol between VLMs and policy models. This protocol leverages object segmentation from both past and present observations to guide policy-environment interactions. Using this approach, we train ROCKET-1, a low-level policy that predicts actions based on concatenated visual observations and segmentation masks, with real-time object tracking provided by SAM-2. Our method unlocks the full potential of VLMs visual-language reasoning abilities, enabling them to solve complex creative tasks, especially those heavily reliant on spatial understanding. Experiments in Minecraft demonstrate that our approach allows agents to accomplish previously unattainable tasks, highlighting the effectiveness of visual-temporal context prompting in embodied decision-making. Codes and demos will be available on the project page: https://craftjarvis.github.io/ROCKET-1.

Low-Dimension-to-High-Dimension Generalization And Its Implications for Length Generalization

Low-Dimension-to-High-Dimension (LDHD) generalization is a special case of Out-of-Distribution (OOD) generalization, where the training data are restricted to a low-dimensional subspace of the high-dimensional testing space. Assuming that each instance is generated from a latent variable and the dimension of the latent variable reflects the problem scale, the inherent scaling challenge in length generalization can be captured by the LDHD generalization in the latent space. We theoretically demonstrate that LDHD generalization is generally unattainable without exploiting prior knowledge to provide appropriate inductive bias. Specifically, we explore LDHD generalization in Boolean functions. We verify that different architectures trained with (S)GD converge to \emph{min-degree interpolators w.r.t. different independent sets}. LDHD generalization is achievable if and only if the target function coincides with this inductive bias. Applying the insights from LDHD generalization to length generalization, we explain the effectiveness of CoT as changing the structure latent space to enable better LDHD generalization. We also propose a principle for position embedding design to handle both the inherent LDHD generalization and the nuisances such as the data format. Following the principle, we propose a novel position embedding called RPE-Square that remedies the RPE for dealing with the data format nuisance.

Mars: Situated Inductive Reasoning in an Open-World Environment

Large Language Models (LLMs) trained on massive corpora have shown remarkable success in knowledge-intensive tasks. Yet, most of them rely on pre-stored knowledge. Inducing new general knowledge from a specific environment and performing reasoning with the acquired knowledge -- \textit{situated inductive reasoning}, is crucial and challenging for machine intelligence. In this paper, we design Mars, an interactive environment devised for situated inductive reasoning. It introduces counter-commonsense game mechanisms by modifying terrain, survival setting and task dependency while adhering to certain principles. In Mars, agents need to actively interact with their surroundings, derive useful rules and perform decision-making tasks in specific contexts. We conduct experiments on various RL-based and LLM-based methods, finding that they all struggle on this challenging situated inductive reasoning benchmark. Furthermore, we explore \textit{Induction from Reflection}, where we instruct agents to perform inductive reasoning from history trajectory. The superior performance underscores the importance of inductive reasoning in Mars. Through Mars, we aim to galvanize advancements in situated inductive reasoning and set the stage for developing the next generation of AI systems that can reason in an adaptive and context-sensitive way.

QCircuitNet: A Large-Scale Hierarchical Dataset for Quantum Algorithm Design

Quantum computing is an emerging field recognized for the significant speedup it offers over classical computing through quantum algorithms. However, designing and implementing quantum algorithms pose challenges due to the complex nature of quantum mechanics and the necessity for precise control over quantum states. Despite the significant advancements in AI, there has been a lack of datasets specifically tailored for this purpose. In this work, we introduce QCircuitNet, the first benchmark and test dataset designed to evaluate AI's capability in designing and implementing quantum algorithms in the form of quantum circuit codes. Unlike using AI for writing traditional codes, this task is fundamentally different and significantly more complicated due to highly flexible design space and intricate manipulation of qubits. Our key contributions include: 1. A general framework which formulates the key features of quantum algorithm design task for Large Language Models. 2. Implementation for a wide range of quantum algorithms from basic primitives to advanced applications, with easy extension to more quantum algorithms. 3. Automatic validation and verification functions, allowing for iterative evaluation and interactive reasoning without human inspection. 4. Promising potential as a training dataset through primitive fine-tuning results. We observed several interesting experimental phenomena: fine-tuning does not always outperform few-shot learning, and LLMs tend to exhibit consistent error patterns. QCircuitNet provides a comprehensive benchmark for AI-driven quantum algorithm design, offering advantages in model evaluation and improvement, while also revealing some limitations of LLMs in this domain.

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.

Semantic Loss Functions for Neuro-Symbolic Structured Prediction

Structured output prediction problems are ubiquitous in machine learning. The prominent approach leverages neural networks as powerful feature extractors, otherwise assuming the independence of the outputs. These outputs, however, jointly encode an object, e.g. a path in a graph, and are therefore related through the structure underlying the output space. We discuss the semantic loss, which injects knowledge about such structure, defined symbolically, into training by minimizing the network's violation of such dependencies, steering the network towards predicting distributions satisfying the underlying structure. At the same time, it is agnostic to the arrangement of the symbols, and depends only on the semantics expressed thereby, while also enabling efficient end-to-end training and inference. We also discuss key improvements and applications of the semantic loss. One limitations of the semantic loss is that it does not exploit the association of every data point with certain features certifying its membership in a target class. We should therefore prefer minimum-entropy distributions over valid structures, which we obtain by additionally minimizing the neuro-symbolic entropy. We empirically demonstrate the benefits of this more refined formulation. Moreover, the semantic loss is designed to be modular and can be combined with both discriminative and generative neural models. This is illustrated by integrating it into generative adversarial networks, yielding constrained adversarial networks, a novel class of deep generative models able to efficiently synthesize complex objects obeying the structure of the underlying domain.

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