LLaRA: Supercharging Robot Learning Data for Vision-Language Policy

Large Language Models (LLMs) equipped with extensive world knowledge and strong reasoning skills can tackle diverse tasks across domains, often by posing them as conversation-style instruction-response pairs. In this paper, we propose LLaRA: Large Language and Robotics Assistant, a framework which formulates robot action policy as conversations, and provides improved responses when trained with auxiliary data that complements policy learning. LLMs with visual inputs, i.e., Vision Language Models (VLMs), have the capacity to process state information as visual-textual prompts and generate optimal policy decisions in text. To train such action policy VLMs, we first introduce an automated pipeline to generate diverse high-quality robotics instruction data from existing behavior cloning data. A VLM finetuned with the resulting collection of datasets based on a conversation-style formulation tailored for robotics tasks, can generate meaningful robot action policy decisions. Our experiments across multiple simulated and real-world environments demonstrate the state-of-the-art performance of the proposed LLaRA framework. The code, datasets, and pretrained models are available at https://github.com/LostXine/LLaRA.

Pushing on Text Readability Assessment: A Transformer Meets Handcrafted Linguistic Features

We report two essential improvements in readability assessment: 1. three novel features in advanced semantics and 2. the timely evidence that traditional ML models (e.g. Random Forest, using handcrafted features) can combine with transformers (e.g. RoBERTa) to augment model performance. First, we explore suitable transformers and traditional ML models. Then, we extract 255 handcrafted linguistic features using self-developed extraction software. Finally, we assemble those to create several hybrid models, achieving state-of-the-art (SOTA) accuracy on popular datasets in readability assessment. The use of handcrafted features help model performance on smaller datasets. Notably, our RoBERTA-RF-T1 hybrid achieves the near-perfect classification accuracy of 99%, a 20.3% increase from the previous SOTA.