Shaohua Sun

Po-Chen Ko, Jiayuan Mao, Yilun Du et al. · mit

In this work, we present an approach to construct a video-based robot policy capable of reliably executing diverse tasks across different robots and environments from few video demonstrations without using any action annotations. Our method leverages images as a task-agnostic representation, encoding both the state and action information, and text as a general representation for specifying robot goals. By synthesizing videos that ``hallucinate'' robot executing actions and in combination with dense correspondences between frames, our approach can infer the closed-formed action to execute to an environment without the need of any explicit action labels. This unique capability allows us to train the policy solely based on RGB videos and deploy learned policies to various robotic tasks. We demonstrate the efficacy of our approach in learning policies on table-top manipulation and navigation tasks. Additionally, we contribute an open-source framework for efficient video modeling, enabling the training of high-fidelity policy models with four GPUs within a single day.

Li-Chun Lu, Shou-Jen Chen, Tsung-Min Pai et al.

Large language models (LLMs) have shown exceptional proficiency in natural language processing but often fall short of generating creative and original responses to open-ended questions. To enhance LLM creativity, our key insight is to emulate the human process of inducing collective creativity through engaging discussions with participants from diverse backgrounds and perspectives. To this end, we propose LLM Discussion, a three-phase discussion framework that facilitates vigorous and diverging idea exchanges and ensures convergence to creative answers. Moreover, we adopt a role-playing technique by assigning distinct roles to LLMs to combat the homogeneity of LLMs. We evaluate the efficacy of the proposed framework with the Alternative Uses Test, Similarities Test, Instances Test, and Scientific Creativity Test through both LLM evaluation and human study. The results show that our proposed framework outperforms single-LLM approaches and existing multi-LLM frameworks across various creativity metrics. The code is available at https://github.com/lawraa/LLM-Discussion.

Chia-Han Yeh, Tse-Sheng Nan, Risto Vuorio et al.

Policy learning under action constraints plays a central role in ensuring safe behaviors in various robot control and resource allocation applications. In this paper, we study a new problem setting termed Action-Constrained Imitation Learning (ACIL), where an action-constrained imitator aims to learn from a demonstrative expert with larger action space. The fundamental challenge of ACIL lies in the unavoidable mismatch of occupancy measure between the expert and the imitator caused by the action constraints. We tackle this mismatch through \textit{trajectory alignment} and propose DTWIL, which replaces the original expert demonstrations with a surrogate dataset that follows similar state trajectories while adhering to the action constraints. Specifically, we recast trajectory alignment as a planning problem and solve it via Model Predictive Control, which aligns the surrogate trajectories with the expert trajectories based on the Dynamic Time Warping (DTW) distance. Through extensive experiments, we demonstrate that learning from the dataset generated by DTWIL significantly enhances performance across multiple robot control tasks and outperforms various benchmark imitation learning algorithms in terms of sample efficiency. Our code is publicly available at https://github.com/NYCU-RL-Bandits-Lab/ACRL-Baselines.

Tsung-Min Pai, Jui-I Wang, Li-Chun Lu et al. · mit

Multi-LLM systems enhance the creativity of large language models by simulating human collective intelligence but suffer from significant drawbacks, such as high computational costs and inference latency. To address these limitations, we propose BILLY (BlendIng persona vectors for Large Language model creativitY), a training-free framework that captures the benefits of multi-LLM collaboration, i.e. inducing diverse perspectives and specialized expertise, within a single model. BILLY operates by extracting and blending multiple distinct persona vectors directly in the model's activation space. We steer the model's generation process with this merged vector while inference, enabling multi-perspective output without explicit multi-LLM communication. Our experiments across creativity-oriented benchmarks demonstrate that BILLY surpasses single model prompting and traditional multi-LLM approaches, while substantially reducing inference time and computational costs. Our analyses further reveal that distinct persona vectors can be blended to achieve both effective control over complementary aspects of generation and greater interpretability.

Dweep Trivedi, Jesse Zhang, Shao-Hua Sun et al.

Recently, deep reinforcement learning (DRL) methods have achieved impressive performance on tasks in a variety of domains. However, neural network policies produced with DRL methods are not human-interpretable and often have difficulty generalizing to novel scenarios. To address these issues, prior works explore learning programmatic policies that are more interpretable and structured for generalization. Yet, these works either employ limited policy representations (e.g. decision trees, state machines, or predefined program templates) or require stronger supervision (e.g. input/output state pairs or expert demonstrations). We present a framework that instead learns to synthesize a program, which details the procedure to solve a task in a flexible and expressive manner, solely from reward signals. To alleviate the difficulty of learning to compose programs to induce the desired agent behavior from scratch, we propose to first learn a program embedding space that continuously parameterizes diverse behaviors in an unsupervised manner and then search over the learned program embedding space to yield a program that maximizes the return for a given task. Experimental results demonstrate that the proposed framework not only learns to reliably synthesize task-solving programs but also outperforms DRL and program synthesis baselines while producing interpretable and more generalizable policies. We also justify the necessity of the proposed two-stage learning scheme as well as analyze various methods for learning the program embedding.

Risto Vuorio, Shao-Hua Sun, Hexiang Hu et al.

Model-agnostic meta-learners aim to acquire meta-learned parameters from similar tasks to adapt to novel tasks from the same distribution with few gradient updates. With the flexibility in the choice of models, those frameworks demonstrate appealing performance on a variety of domains such as few-shot image classification and reinforcement learning. However, one important limitation of such frameworks is that they seek a common initialization shared across the entire task distribution, substantially limiting the diversity of the task distributions that they are able to learn from. In this paper, we augment MAML with the capability to identify the mode of tasks sampled from a multimodal task distribution and adapt quickly through gradient updates. Specifically, we propose a multimodal MAML (MMAML) framework, which is able to modulate its meta-learned prior parameters according to the identified mode, allowing more efficient fast adaptation. We evaluate the proposed model on a diverse set of few-shot learning tasks, including regression, image classification, and reinforcement learning. The results not only demonstrate the effectiveness of our model in modulating the meta-learned prior in response to the characteristics of tasks but also show that training on a multimodal distribution can produce an improvement over unimodal training.

Risto Vuorio, Shao-Hua Sun, Hexiang Hu et al.

Gradient-based meta-learners such as MAML are able to learn a meta-prior from similar tasks to adapt to novel tasks from the same distribution with few gradient updates. One important limitation of such frameworks is that they seek a common initialization shared across the entire task distribution, substantially limiting the diversity of the task distributions that they are able to learn from. In this paper, we augment MAML with the capability to identify tasks sampled from a multimodal task distribution and adapt quickly through gradient updates. Specifically, we propose a multimodal MAML algorithm that is able to modulate its meta-learned prior according to the identified task, allowing faster adaptation. We evaluate the proposed model on a diverse set of problems including regression, few-shot image classification, and reinforcement learning. The results demonstrate the effectiveness of our model in modulating the meta-learned prior in response to the characteristics of tasks sampled from a multimodal distribution.

Xin Luna Dong, Evgeniy Gabrilovich, Kevin Murphy et al.

The quality of web sources has been traditionally evaluated using exogenous signals such as the hyperlink structure of the graph. We propose a new approach that relies on endogenous signals, namely, the correctness of factual information provided by the source. A source that has few false facts is considered to be trustworthy. The facts are automatically extracted from each source by information extraction methods commonly used to construct knowledge bases. We propose a way to distinguish errors made in the extraction process from factual errors in the web source per se, by using joint inference in a novel multi-layer probabilistic model. We call the trustworthiness score we computed Knowledge-Based Trust (KBT). On synthetic data, we show that our method can reliably compute the true trustworthiness levels of the sources. We then apply it to a database of 2.8B facts extracted from the web, and thereby estimate the trustworthiness of 119M webpages. Manual evaluation of a subset of the results confirms the effectiveness of the method.