22 accepted papers
Achieving human-like spatial intelligence for vision-language models (VLMs) requires inferring 3D structures from 2D observations, recognizing object properties and relations in 3D space, and performing high-level spatial reasoning. In this paper, we propose a principled hierarchical framework that
This paper presents an approach for pretraining robotic manipulation Vision-Language-Action (VLA) models using a large corpus of unscripted real-life video recordings of human hand activities. Treating human hand as dexterous robot end-effector, we show that "in-the-wild" egocentric human videos wit…
Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet, most evaluations of VLMs focus on single-view settings, leaving their ability t…
We introduce UniGraspTransformer, a universal Transformer-based network for dexterous robotic grasping that simplifies training while enhancing scalability and performance. Unlike prior methods such as UniDexGrasp++, which require complex, multi-step training pipelines, UniGraspTransformer follows a…
Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained understanding models for perception and instruction following, their abi…
Assessing foundation models’ abilities for human-level tasks is crucial for Artificial General Intelligence (AGI) development.Traditional benchmarks, which rely on artificial datasets, may not accurately represent these capabilities. In this paper, we introduce AGIEval, a novel bilingual benchmark d…
Large language models (LLMs) have demonstrated impressive reasoning capabilities, yet there is ongoing debate about these abilities and the potential data contamination problem recently. This paper aims to evaluate the reasoning capacities of LLMs, specifically in solving recent competition-level pr…
One major challenge for Large Language Models (LLMs) is completing complex tasks involving multiple entities, such as tool APIs. To tackle this, one approach is to retrieve relevant entities to enhance LLMs in task completion. A crucial issue here is obtaining accurate natural language representatio…
Large Language Models (LLMs) have shown remarkable performance in various basic natural language tasks. For completing the complex task, we still need a plan for the task to guide LLMs to generate the specific solutions step by step. LLMs can directly generate task plans, but these plans may still c…
Utilizing Large Language Models (LLMs) for complex tasks is challenging, often involving a time-consuming and uncontrollable prompt engineering process. This paper introduces a novel human-LLM interaction framework, Low-code LLM. It incorporates six types of simple low-code visual programming intera…
There are two primary approaches to addressing cross-lingual transfer: multilingual pre-training, which implicitly aligns the hidden representations of various languages, and translate-test, which explicitly translates different languages into an intermediate language, such as English. Translate-tes…
Recent evaluations of Large Language Models (LLMs) have centered around testing their zero-shot/few-shot capabilities for basic natural language tasks and their ability to translate instructions into tool APIs. However, the evaluation of LLMs utilizing complex tools to finish multi-turn, multi-modal…
The growing dependence on Large Language Models (LLMs) for finishing user instructions necessitates a comprehensive understanding of their robustness to complex task completion in real-world situations. To address this critical need, we propose the PowerPoint Task Completion-Robustness (PPTC-R) benc…
Existing research has shown that a multilingual pre-trained language model fine-tuned with one (source) language also performs well on downstream tasks for non-source languages, even though no fine-tuning is done on these languages. However, there is a clear gap between the performance of the source…
Recently multi-lingual pre-trained language models (PLM) such as mBERT and XLM-R have achieved impressive strides in cross-lingual dense retrieval. Despite its successes, they are general-purpose PLM while the multilingual PLM tailored for cross-lingual retrieval is still unexplored. Motivated by an…
Multilingual pre-trained language models, such as mBERT and XLM-R, have shown impressive cross-lingual ability. Surprisingly, both of them use multilingual masked language model (MLM) without any cross-lingual supervision or aligned data. Despite the encouraging results, we still lack a clear unders…
Multi-lingual fine-tuning (MLF), which fine-tunes a multi-lingual language model (MLLM) with multiple source languages, aims to gain good zero-shot performance on target languages. In MLF, the fine-tuned model tends to fit the source languages while forgetting its cross-lingual knowledge obtained fr…
Dense retrieval has achieved impressive advances in first-stage retrieval from a large-scale document collection, which is built on bi-encoder architecture to produce single vector representation of query and document. However, a document can usually answer multiple potential queries from different…
Recent research demonstrates the effectiveness of using pretrained language models (PLM) to improve dense retrieval and multilingual dense retrieval. In this work, we present a simple but effective monolingual pretraining task called contrastive context prediction (CCP) to learn sentence representat…
Cross-lingual pre-training has achieved great successes using monolingual and bilingual plain text corpora. However, most pre-trained models neglect multilingual knowledge, which is language agnostic but comprises abundant cross-lingual structure alignment. In this paper, we propose XLM-K, a cross-l…
Multilingual pre-trained models have demonstrated their effectiveness in many multilingual NLP tasks and enabled zero-shot or few-shot transfer from high-resource languages to low-resource ones. However, due to significant typological differences and contradictions between some languages, such model…
In most machine learning tasks, we evaluate a model M on a given data population S by measuring a population-level metric F(S;M). Examples of such evaluation metric F include precision/recall for (binary) recognition, the F1 score for multi-class classification, and the BLEU metric for language gene…