Image-Based Visual Servoing for Enhanced Cooperation of Dual-Arm Manipulation

The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their kinematics and joint coordinate measurements. Yet, the manipulators' inaccurate kinematics and joint coordinate measurements can cause significant pose synchronization errors in practice. This paper thus proposes an image-based visual servoing approach for enhancing the cooperation of a dual-arm manipulation system. On top of the classical control, the visual servoing controller lets each manipulator use its carried camera to measure the image features of the other's marker and adapt its end-effector pose with the counterpart on the move. Because visual measurements are robust to kinematic errors, the proposed control can reduce the end-effector pose synchronization errors and the fluctuations of the interaction forces of the pair of manipulators on the move. Theoretical analyses have rigorously proven the stability of the closed-loop system. Comparative experiments on real robots have substantiated the effectiveness of the proposed control.

Deliberate Reasoning for LLMs as Structure-aware Planning with Accurate World Model

Enhancing the reasoning capabilities of large language models (LLMs) remains a key challenge, especially for tasks that require complex, multi-step decision-making. Humans excel at these tasks by leveraging deliberate planning with an internal world model to simulate the potential outcomes of various actions. Inspired by this, we propose a novel multi-step reasoning framework for LLMs, referred to as Structure-aware Planning with Accurate World Model (SWAP). Unlike previous approaches that rely solely on Chain-of-Thought (CoT) reasoning in natural language, SWAP incorporates structural information to guide the reasoning process via a world model and provides a soft verification mechanism over the steps. Moreover, SWAP overcomes the challenge of accurate world state predictions in complex reasoning tasks by introducing a Generator-Discriminator architecture, which enables more reliable world modeling. Specifically, the generator predicts the next state, and the discriminator ensures alignment with the logical consistency required by the problem context. SWAP also encourages the policy model to explore a broad range of potential actions to prevent premature convergence. By resolving the bottlenecks of generation diversity for both actions and states using diversity-based modeling (DBM) and improving discrimination accuracy through contrastive ranking (CR), SWAP significantly enhances the reasoning performance of LLMs. We evaluate SWAP across diverse reasoning-intensive benchmarks including math reasoning, logical reasoning, and coding tasks. Extensive experiments demonstrate that SWAP achieves substantial improvements over the baselines and consistently outperforms existing LLMs of similar sizes.

The Compressor-Retriever Architecture for Language Model OS

Recent advancements in large language models (LLMs) have significantly enhanced their capacity to aggregate and process information across multiple modalities, enabling them to perform a wide range of tasks such as multimodal data querying, tool usage, web interactions, and handling long documents. These capabilities pave the way for transforming LLMs from mere chatbots into general-purpose agents capable of interacting with the real world. This paper explores the concept of using a language model as the core component of an operating system (OS), effectively acting as a CPU that processes data stored in a context window, which functions as RAM. A key challenge in realizing such an LM OS is managing the life-long context and ensuring statefulness across sessions, a feature limited by the current session-based interaction paradigm due to context window size limit. To address this, we introduce compressor-retriever, a model-agnostic architecture designed for life-long context management. Unlike other long-context solutions such as retrieval-augmented generation, our approach exclusively uses the base model's forward function to compress and retrieve context, ensuring end-to-end differentiability. Preliminary experiments demonstrate the effectiveness of this architecture in in-context learning tasks, marking a step towards the development of a fully stateful LLM OS. Project repo available at: https://github.com/gblackout/LM-OS

Can LLMs Reason in the Wild with Programs?

Large Language Models (LLMs) have shown superior capability to solve reasoning problems with programs. While being a promising direction, most of such frameworks are trained and evaluated in settings with a prior knowledge of task requirements. However, as LLMs become more capable, it is necessary to assess their reasoning abilities in more realistic scenarios where many real-world problems are open-ended with ambiguous scope, and often require multiple formalisms to solve. To investigate this, we introduce the task of reasoning in the wild, where an LLM is tasked to solve a reasoning problem of unknown type by identifying the subproblems and their corresponding formalisms, and writing a program to solve each subproblem, guided by a tactic. We create a large tactic-guided trajectory dataset containing detailed solutions to a diverse set of reasoning problems, ranging from well-defined single-form reasoning (e.g., math, logic), to ambiguous and hybrid ones (e.g., commonsense, combined math and logic). This allows us to test various aspects of LLMs reasoning at the fine-grained level such as the selection and execution of tactics, and the tendency to take undesired shortcuts. In experiments, we highlight that existing LLMs fail significantly on problems with ambiguous and mixed scope, revealing critical limitations and overfitting issues (e.g. accuracy on GSM8K drops by at least 50\%). We further show the potential of finetuning a local LLM on the tactic-guided trajectories in achieving better performance. Project repo is available at github.com/gblackout/Reason-in-the-Wild

TILP: Differentiable Learning of Temporal Logical Rules on Knowledge Graphs

Compared with static knowledge graphs, temporal knowledge graphs (tKG), which can capture the evolution and change of information over time, are more realistic and general. However, due to the complexity that the notion of time introduces to the learning of the rules, an accurate graph reasoning, e.g., predicting new links between entities, is still a difficult problem. In this paper, we propose TILP, a differentiable framework for temporal logical rules learning. By designing a constrained random walk mechanism and the introduction of temporal operators, we ensure the efficiency of our model. We present temporal features modeling in tKG, e.g., recurrence, temporal order, interval between pair of relations, and duration, and incorporate it into our learning process. We compare TILP with state-of-the-art methods on two benchmark datasets. We show that our proposed framework can improve upon the performance of baseline methods while providing interpretable results. In particular, we consider various scenarios in which training samples are limited, data is biased, and the time range between training and inference are different. In all these cases, TILP works much better than the state-of-the-art methods.

TEILP: Time Prediction over Knowledge Graphs via Logical Reasoning

Conventional embedding-based models approach event time prediction in temporal knowledge graphs (TKGs) as a ranking problem. However, they often fall short in capturing essential temporal relationships such as order and distance. In this paper, we propose TEILP, a logical reasoning framework that naturaly integrates such temporal elements into knowledge graph predictions. We first convert TKGs into a temporal event knowledge graph (TEKG) which has a more explicit representation of time in term of nodes of the graph. The TEKG equips us to develop a differentiable random walk approach to time prediction. Finally, we introduce conditional probability density functions, associated with the logical rules involving the query interval, using which we arrive at the time prediction. We compare TEILP with state-of-the-art methods on five benchmark datasets. We show that our model achieves a significant improvement over baselines while providing interpretable explanations. In particular, we consider several scenarios where training samples are limited, event types are imbalanced, and forecasting the time of future events based on only past events is desired. In all these cases, TEILP outperforms state-of-the-art methods in terms of robustness.

A Cognitively-Inspired Neural Architecture for Visual Abstract Reasoning Using Contrastive Perceptual and Conceptual Processing

We introduce a new neural architecture for solving visual abstract reasoning tasks inspired by human cognition, specifically by observations that human abstract reasoning often interleaves perceptual and conceptual processing as part of a flexible, iterative, and dynamic cognitive process. Inspired by this principle, our architecture models visual abstract reasoning as an iterative, self-contrasting learning process that pursues consistency between perceptual and conceptual processing of visual stimuli. We explain how this new Contrastive Perceptual-Conceptual Network (CPCNet) works using matrix reasoning problems in the style of the well-known Raven's Progressive Matrices intelligence test. Experiments on the machine learning dataset RAVEN show that CPCNet achieves higher accuracy than all previously published models while also using the weakest inductive bias. We also point out a substantial and previously unremarked class imbalance in the original RAVEN dataset, and we propose a new variant of RAVEN -- AB-RAVEN -- that is more balanced in terms of abstract concepts.

FERN: Leveraging Graph Attention Networks for Failure Evaluation and Robust Network Design

Robust network design, which aims to guarantee network availability under various failure scenarios while optimizing performance/cost objectives, has received significant attention. Existing approaches often rely on model-based mixed-integer optimization that is hard to scale or employ deep learning to solve specific engineering problems yet with limited generalizability. In this paper, we show that failure evaluation provides a common kernel to improve the tractability and scalability of existing solutions. By providing a neural network function approximation of this common kernel using graph attention networks, we develop a unified learning-based framework, FERN, for scalable Failure Evaluation and Robust Network design. FERN represents rich problem inputs as a graph and captures both local and global views by attentively performing feature extraction from the graph. It enables a broad range of robust network design problems, including robust network validation, network upgrade optimization, and fault-tolerant traffic engineering that are discussed in this paper, to be recasted with respect to the common kernel and thus computed efficiently using neural networks and over a small set of critical failure scenarios. Extensive experiments on real-world network topologies show that FERN can efficiently and accurately identify key failure scenarios for both OSPF and optimal routing scheme, and generalizes well to different topologies and input traffic patterns. It can speed up multiple robust network design problems by more than 80x, 200x, 10x, respectively with negligible performance gap.

A Computational Account Of Self-Supervised Visual Learning From Egocentric Object Play

Research in child development has shown that embodied experience handling physical objects contributes to many cognitive abilities, including visual learning. One characteristic of such experience is that the learner sees the same object from several different viewpoints. In this paper, we study how learning signals that equate different viewpoints -- e.g., assigning similar representations to different views of a single object -- can support robust visual learning. We use the Toybox dataset, which contains egocentric videos of humans manipulating different objects, and conduct experiments using a computer vision framework for self-supervised contrastive learning. We find that representations learned by equating different physical viewpoints of an object benefit downstream image classification accuracy. Further experiments show that this performance improvement is robust to variations in the gaps between viewpoints, and that the benefits transfer to several different image classification tasks.

Harnessing the Power of Large Language Models for Natural Language to First-Order Logic Translation

Translating natural language sentences to first-order logic (NL-FOL translation) is a longstanding challenge in the NLP and formal logic literature. This paper introduces LogicLLaMA, a LLaMA-7B model fine-tuned for NL-FOL translation using LoRA on a single GPU. LogicLLaMA is capable of directly translating natural language into FOL rules, which outperforms GPT-3.5. LogicLLaMA is also equipped to correct FOL rules predicted by GPT-3.5, and can achieve similar performance as GPT-4 with a fraction of the cost. This correction ability was achieved by a novel supervised fine-tuning (SFT) + reinforcement learning with human feedback (RLHF) framework, which initially trains on synthetically perturbed NL-FOL pairs to encourage chain-of-thought reasoning and then fine-tunes with RLHF on GPT-3.5 outputs using a FOL verifier as the reward model. To train LogicLLaMA, we present MALLS (large language $\textbf{M}$odel gener$\textbf{A}$ted N$\textbf{L}$-FO$\textbf{L}$ pair$\textbf{S}$), a dataset of 34K high-quality and diverse sentence-level NL-FOL pairs collected from GPT-4. The dataset was created by implementing a pipeline that prompts GPT-4 for pairs, and dynamically adjusts the prompts to ensure the collection of pairs with rich and diverse contexts at different levels of complexity, and verifies the validity of the generated FOL rules. Codes, weights, and data are available at $\href{https://github.com/gblackout/LogicLLaMA}{{\small \text{https://github.com/gblackout/LogicLLaMA}}}$.