Yuxiang Zhou

Konstantinos Bousmalis, Giulia Vezzani, Dushyant Rao et al.

The ability to leverage heterogeneous robotic experience from different robots and tasks to quickly master novel skills and embodiments has the potential to transform robot learning. Inspired by recent advances in foundation models for vision and language, we propose a multi-embodiment, multi-task generalist agent for robotic manipulation. This agent, named RoboCat, is a visual goal-conditioned decision transformer capable of consuming action-labelled visual experience. This data spans a large repertoire of motor control skills from simulated and real robotic arms with varying sets of observations and actions. With RoboCat, we demonstrate the ability to generalise to new tasks and robots, both zero-shot as well as through adaptation using only 100-1000 examples for the target task. We also show how a trained model itself can be used to generate data for subsequent training iterations, thus providing a basic building block for an autonomous improvement loop. We investigate the agent's capabilities, with large-scale evaluations both in simulation and on three different real robot embodiments. We find that as we grow and diversify its training data, RoboCat not only shows signs of cross-task transfer, but also becomes more efficient at adapting to new tasks.

Mohit Sharma, Claudio Fantacci, Yuxiang Zhou et al.

Recent works have shown that large models pretrained on common visual learning tasks can provide useful representations for a wide range of specialized perception problems, as well as a variety of robotic manipulation tasks. While prior work on robotic manipulation has predominantly used frozen pretrained features, we demonstrate that in robotics this approach can fail to reach optimal performance, and that fine-tuning of the full model can lead to significantly better results. Unfortunately, fine-tuning disrupts the pretrained visual representation, and causes representational drift towards the fine-tuned task thus leading to a loss of the versatility of the original model. We introduce "lossless adaptation" to address this shortcoming of classical fine-tuning. We demonstrate that appropriate placement of our parameter efficient adapters can significantly reduce the performance gap between frozen pretrained representations and full end-to-end fine-tuning without changes to the original representation and thus preserving original capabilities of the pretrained model. We perform a comprehensive investigation across three major model architectures (ViTs, NFNets, and ResNets), supervised (ImageNet-1K classification) and self-supervised pretrained weights (CLIP, BYOL, Visual MAE) in 3 task domains and 35 individual tasks, and demonstrate that our claims are strongly validated in various settings.

Alex X. Lee, Coline Devin, Jost Tobias Springenberg et al.

Reinforcement learning (RL) has been shown to be effective at learning control from experience. However, RL typically requires a large amount of online interaction with the environment. This limits its applicability to real-world settings, such as in robotics, where such interaction is expensive. In this work we investigate ways to minimize online interactions in a target task, by reusing a suboptimal policy we might have access to, for example from training on related prior tasks, or in simulation. To this end, we develop two RL algorithms that can speed up training by using not only the action distributions of teacher policies, but also data collected by such policies on the task at hand. We conduct a thorough experimental study of how to use suboptimal teachers on a challenging robotic manipulation benchmark on vision-based stacking with diverse objects. We compare our methods to offline, online, offline-to-online, and kickstarting RL algorithms. By doing so, we find that training on data from both the teacher and student, enables the best performance for limited data budgets. We examine how to best allocate a limited data budget -- on the target task -- between the teacher and the student policy, and report experiments using varying budgets, two teachers with different degrees of suboptimality, and five stacking tasks that require a diverse set of behaviors. Our analysis, both in simulation and in the real world, shows that our approach is the best across data budgets, while standard offline RL from teacher rollouts is surprisingly effective when enough data is given.

Mucheng Ren, Heyan Huang, Yuxiang Zhou et al.

Traditional Chinese Medicine (TCM) is a natural, safe, and effective therapy that has spread and been applied worldwide. The unique TCM diagnosis and treatment system requires a comprehensive analysis of a patient's symptoms hidden in the clinical record written in free text. Prior studies have shown that this system can be informationized and intelligentized with the aid of artificial intelligence (AI) technology, such as natural language processing (NLP). However, existing datasets are not of sufficient quality nor quantity to support the further development of data-driven AI technology in TCM. Therefore, in this paper, we focus on the core task of the TCM diagnosis and treatment system -- syndrome differentiation (SD) -- and we introduce the first public large-scale dataset for SD, called TCM-SD. Our dataset contains 54,152 real-world clinical records covering 148 syndromes. Furthermore, we collect a large-scale unlabelled textual corpus in the field of TCM and propose a domain-specific pre-trained language model, called ZY-BERT. We conducted experiments using deep neural networks to establish a strong performance baseline, reveal various challenges in SD, and prove the potential of domain-specific pre-trained language model. Our study and analysis reveal opportunities for incorporating computer science and linguistics knowledge to explore the empirical validity of TCM theories.

Jiazheng Li, Hainiu Xu, Zhaoyue Sun et al.

Generating rationales that justify scoring decisions has been a promising way to facilitate explainability in automated scoring systems. However, existing methods do not match the accuracy of classifier-based methods. Plus, the generated rationales often contain hallucinated information. To address these issues, we propose a novel framework capable of generating more faithful rationales and, more importantly, matching performance with classifier-based black-box scoring systems. We first mimic the human assessment process by querying Large Language Models (LLMs) to generate a thought tree. We then summarise intermediate assessment decisions from each thought tree path for creating synthetic rationale data and rationale preference data. Finally, we utilise the generated synthetic data to calibrate LLMs through a two-step training process: supervised fine-tuning and preference optimization. Extensive experimental results demonstrate that our framework achieves a 38% assessment performance improvement in the QWK score compared to prior work while producing higher-quality rationales, as recognised by human evaluators and LLMs. Our work sheds light on the effectiveness of performing preference optimization using synthetic preference data obtained from thought tree paths. Data and code are available at https://github.com/lijiazheng99/thought_tree_assessment.

Jiazheng Li, Lin Gui, Yuxiang Zhou et al.

Providing explainable and faithful feedback is crucial for automated student answer assessment. In this paper, we introduce a novel framework that explores using ChatGPT, a cutting-edge large language model, for the concurrent tasks of student answer scoring and rationale generation. We identify the appropriate instructions by prompting ChatGPT with different templates to collect the rationales, where inconsistent rationales are refined to align with marking standards. The refined ChatGPT outputs enable us to fine-tune a smaller language model that simultaneously assesses student answers and provides rationales. Extensive experiments on the benchmark dataset show that the proposed method improves the overall QWK score by 11% compared to ChatGPT. Furthermore, our thorough analysis and human evaluation demonstrate that the rationales generated by our proposed method are comparable to those of ChatGPT. Our approach provides a viable solution to achieve explainable automated assessment in education. Code available at https://github.com/lijiazheng99/aera.

Xingwei Tan, Yuxiang Zhou, Gabriele Pergola et al.

Event temporal graphs have been shown as convenient and effective representations of complex temporal relations between events in text. Recent studies, which employ pre-trained language models to auto-regressively generate linearised graphs for constructing event temporal graphs, have shown promising results. However, these methods have often led to suboptimal graph generation as the linearised graphs exhibit set characteristics which are instead treated sequentially by language models. This discrepancy stems from the conventional text generation objectives, leading to erroneous penalisation of correct predictions caused by the misalignment of elements in target sequences. To address these challenges, we reframe the task as a conditional set generation problem, proposing a Set-aligning Framework tailored for the effective utilisation of Large Language Models (LLMs). The framework incorporates data augmentations and set-property regularisations designed to alleviate text generation loss penalties associated with the linearised graph edge sequences, thus encouraging the generation of more relation edges. Experimental results show that our framework surpasses existing baselines for event temporal graph generation. Furthermore, under zero-shot settings, the structural knowledge introduced through our framework notably improves model generalisation, particularly when the training examples available are limited.

Hainiu Xu, Siya Qi, Jiazheng Li et al.

Theory-of-Mind (ToM), the ability to infer others' perceptions and mental states, is fundamental to human interaction but remains challenging for Large Language Models (LLMs). While existing ToM reasoning methods show promise with reasoning via perceptual perspective-taking, they often rely excessively on off-the-shelf LLMs, reducing their efficiency and limiting their applicability to high-order ToM reasoning. To address these issues, we present EnigmaToM, a novel neuro-symbolic framework that enhances ToM reasoning by integrating a Neural Knowledge Base of entity states (Enigma) for (1) a psychology-inspired iterative masking mechanism that facilitates accurate perspective-taking and (2) knowledge injection that elicits key entity information. Enigma generates structured knowledge of entity states to build spatial scene graphs for belief tracking across various ToM orders and enrich events with fine-grained entity state details. Experimental results on ToMi, HiToM, and FANToM benchmarks show that EnigmaToM significantly improves ToM reasoning across LLMs of varying sizes, particularly excelling in high-order reasoning scenarios.

Xingwei Tan, Yuxiang Zhou, Gabriele Pergola et al.

Generating event graphs from long documents is challenging due to the inherent complexity of multiple tasks involved such as detecting events, identifying their relationships, and reconciling unstructured input with structured graphs. Recent studies typically consider all events with equal importance, failing to distinguish salient events crucial for understanding narratives. This paper presents CALLMSAE, a CAscading Large Language Model framework for SAlient Event graph generation, which leverages the capabilities of LLMs and eliminates the need for costly human annotations. We first identify salient events by prompting LLMs to generate summaries, from which salient events are identified. Next, we develop an iterative code refinement prompting strategy to generate event relation graphs, removing hallucinated relations and recovering missing edges. Powered by CALLMSAE, we present \textit{NYT-SEG}, a large-scale automatically annotated event graph dataset which can serve as distant supervision signals. Fine-tuning contextualised graph generation models on \textit{NYT-SEG} outperforms the models trained on CAEVO data. Results on a human-annotated test set show that the proposed method generates salient and more accurate graphs, outperforming competitive baselines.