Fei Xia

Yecheng Jason Ma, Joey Hejna, Ayzaan Wahid et al.

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires both a large amount of diverse data and methods which can scale and generalize. To address these challenges, we present Generative Value Learning (\GVL), a universal value function estimator that leverages the world knowledge embedded in vision-language models (VLMs) to predict task progress. Naively asking a VLM to predict values for a video sequence performs poorly due to the strong temporal correlation between successive frames. Instead, GVL poses value estimation as a temporal ordering problem over shuffled video frames; this seemingly more challenging task encourages VLMs to more fully exploit their underlying semantic and temporal grounding capabilities to differentiate frames based on their perceived task progress, consequently producing significantly better value predictions. Without any robot or task specific training, GVL can in-context zero-shot and few-shot predict effective values for more than 300 distinct real-world tasks across diverse robot platforms, including challenging bimanual manipulation tasks. Furthermore, we demonstrate that GVL permits flexible multi-modal in-context learning via examples from heterogeneous tasks and embodiments, such as human videos. The generality of GVL enables various downstream applications pertinent to visuomotor policy learning, including dataset filtering, success detection, and advantage-weighted regression -- all without any model training or finetuning.

Yujuan Fu, Ozlem Uzuner, Meliha Yetisgen et al.

Large language models (LLMs) have demonstrated great performance across various benchmarks, showing potential as general-purpose task solvers. However, as LLMs are typically trained on vast amounts of data, a significant concern in their evaluation is data contamination, where overlap between training data and evaluation datasets inflates performance assessments. Multiple approaches have been developed to identify data contamination. These approaches rely on specific assumptions that may not hold universally across different settings. To bridge this gap, we systematically review 50 papers on data contamination detection, categorize the underlying assumptions, and assess whether they have been rigorously validated. We identify and analyze eight categories of assumptions and test three of them as case studies. Our case studies focus on detecting direct, instance-level data contamination, which is also referred to as Membership Inference Attacks (MIA). Our analysis reveals that MIA approaches based on these three assumptions can have similar performance to random guessing, on datasets used in LLM pretraining, suggesting that current LLMs might learn data distributions rather than memorizing individual instances. Meanwhile, MIA can easily fail when there are data distribution shifts between the seen and unseen instances.