6 accepted papers
We introduce Latent Action Pretraining for general Action models (LAPA), the first unsupervised method for pretraining Vision-Language-Action (VLA) models without ground-truth robot action labels. Existing Vision-Language-Action models require action labels typically collected by human teleoperators…
As language models (LMs) become capable of handling a wide range of tasks, their evaluation is becoming as challenging as their development. Most generation benchmarks currently assess LMs using abstract evaluation criteria-like helpfulness and harmlessness-which often lack the flexibility and granu…
To reduce issues like hallucinations and lack of control in Large Language Models (LLMs), a common method is to generate responses by grounding on external contexts given as input, known as knowledge-augmented models. However, previous research often narrowly defines “grounding” as just having the c…
In this work, we introduce a semiparametric token-sequence co-supervision training method. It trains a language model by simultaneously leveraging supervision from the traditional next token prediction loss which is calculated over the parametric token embedding space and the next sequence predictio…
Language models (LMs) with less than 100B parameters are known to perform poorly on chain-of-thought (CoT) reasoning in contrast to large LMs when solving unseen tasks. In this work, we aim to equip smaller LMs with the step-by-step reasoning capability by instruction tuning with CoT rationales. In…
In this paper, we propose to leverage the unique characteristics of dialogues sharing commonsense knowledge across participants, to resolve the difficulties in summarizing them. We present SICK, a framework that uses commonsense inferences as additional context. Compared to previous work that solely…