Daily Papers

We study the task of zero-shot vision-and-language navigation (ZS-VLN), a practical yet challenging problem in which an agent learns to navigate following a path described by language instructions without requiring any path-instruction annotation data. Normally, the instructions have complex grammatical structures and often contain various action descriptions (e.g., "proceed beyond", "depart from"). How to correctly understand and execute these action demands is a critical problem, and the absence of annotated data makes it even more challenging. Note that a well-educated human being can easily understand path instructions without the need for any special training. In this paper, we propose an action-aware zero-shot VLN method (A^2Nav) by exploiting the vision-and-language ability of foundation models. Specifically, the proposed method consists of an instruction parser and an action-aware navigation policy. The instruction parser utilizes the advanced reasoning ability of large language models (e.g., GPT-3) to decompose complex navigation instructions into a sequence of action-specific object navigation sub-tasks. Each sub-task requires the agent to localize the object and navigate to a specific goal position according to the associated action demand. To accomplish these sub-tasks, an action-aware navigation policy is learned from freely collected action-specific datasets that reveal distinct characteristics of each action demand. We use the learned navigation policy for executing sub-tasks sequentially to follow the navigation instruction. Extensive experiments show A^2Nav achieves promising ZS-VLN performance and even surpasses the supervised learning methods on R2R-Habitat and RxR-Habitat datasets.

Generating instructional images of human daily actions from an egocentric viewpoint serves a key step towards efficient skill transfer. In this paper, we introduce a novel problem -- egocentric action frame generation. The goal is to synthesize the action frame conditioning on the user prompt question and an input egocentric image that captures user's environment. Notably, existing egocentric datasets lack the detailed annotations that describe the execution of actions. Additionally, the diffusion-based image manipulation models fail to control the state change of an action within the corresponding egocentric image pixel space. To this end, we finetune a visual large language model (VLLM) via visual instruction tuning for curating the enriched action descriptions to address our proposed problem. Moreover, we propose to Learn EGOcentric (LEGO) action frame generation using image and text embeddings from VLLM as additional conditioning. We validate our proposed model on two egocentric datasets -- Ego4D and Epic-Kitchens. Our experiments show prominent improvement over prior image manipulation models in both quantitative and qualitative evaluation. We also conduct detailed ablation studies and analysis to provide insights on our method.

Video generation has emerged as a promising tool for world simulation, leveraging visual data to replicate real-world environments. Within this context, egocentric video generation, which centers on the human perspective, holds significant potential for enhancing applications in virtual reality, augmented reality, and gaming. However, the generation of egocentric videos presents substantial challenges due to the dynamic nature of egocentric viewpoints, the intricate diversity of actions, and the complex variety of scenes encountered. Existing datasets are inadequate for addressing these challenges effectively. To bridge this gap, we present EgoVid-5M, the first high-quality dataset specifically curated for egocentric video generation. EgoVid-5M encompasses 5 million egocentric video clips and is enriched with detailed action annotations, including fine-grained kinematic control and high-level textual descriptions. To ensure the integrity and usability of the dataset, we implement a sophisticated data cleaning pipeline designed to maintain frame consistency, action coherence, and motion smoothness under egocentric conditions. Furthermore, we introduce EgoDreamer, which is capable of generating egocentric videos driven simultaneously by action descriptions and kinematic control signals. The EgoVid-5M dataset, associated action annotations, and all data cleansing metadata will be released for the advancement of research in egocentric video generation.

While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as the context window grows. Planning requires understanding the likely effects of one's actions and identifying whether the current environment satisfies the goal state. While symbolic planners find optimal solutions quickly, they require a complete and accurate representation of the planning problem, severely limiting their use in practical scenarios. In contrast, modern LLMs cope with noisy observations and high levels of uncertainty when reasoning about a task. Our work presents LLM Dynamic Planner (LLM-DP): a neuro-symbolic framework where an LLM works hand-in-hand with a traditional planner to solve an embodied task. Given action-descriptions, LLM-DP solves Alfworld faster and more efficiently than a naive LLM ReAct baseline.

Generating realistic human motion from given action descriptions has experienced significant advancements because of the emerging requirement of digital humans. While recent works have achieved impressive results in generating motion directly from textual action descriptions, they often support only a single modality of the control signal, which limits their application in the real digital human industry. This paper presents a Motion General-Purpose generaTor (MotionGPT) that can use multimodal control signals, e.g., text and single-frame poses, for generating consecutive human motions by treating multimodal signals as special input tokens in large language models (LLMs). Specifically, we first quantize multimodal control signals into discrete codes and then formulate them in a unified prompt instruction to ask the LLMs to generate the motion answer. Our MotionGPT demonstrates a unified human motion generation model with multimodal control signals by tuning a mere 0.4% of LLM parameters. To the best of our knowledge, MotionGPT is the first method to generate human motion by multimodal control signals, which we hope can shed light on this new direction. Codes shall be released upon acceptance.

Controlling human motion based on text presents an important challenge in computer vision. Traditional approaches often rely on holistic action descriptions for motion synthesis, which struggle to capture subtle movements of local body parts. This limitation restricts the ability to isolate and manipulate specific movements. To address this, we propose a novel motion representation that decomposes motion into distinct body joint group movements and interactions from a kinematic perspective. We design an automatic dataset collection pipeline that enhances the existing text-motion benchmark by incorporating fine-grained local joint-group motion and interaction descriptions. To bridge the gap between text and motion domains, we introduce a hierarchical motion semantics approach that progressively fuses joint-level interaction information into the global action-level semantics for modality alignment. With this hierarchy, we introduce a coarse-to-fine motion synthesis procedure for various generation and editing downstream applications. Our quantitative and qualitative experiments demonstrate that the proposed formulation enhances text-motion retrieval by improving joint-spatial understanding, and enables more precise joint-motion generation and control. Project Page: {\smallhttps://andypinxinliu.github.io/KinMo/}

With the release of large-scale motion datasets with textual annotations, the task of establishing a robust latent space for language and 3D human motion has recently witnessed a surge of interest. Methods have been proposed to convert human motion and texts into features to achieve accurate correspondence between them. Despite these efforts to align language and motion representations, we claim that the temporal element is often overlooked, especially for compound actions, resulting in chronological inaccuracies. To shed light on the temporal alignment in motion-language latent spaces, we propose Chronologically Accurate Retrieval (CAR) to evaluate the chronological understanding of the models. We decompose textual descriptions into events, and prepare negative text samples by shuffling the order of events in compound action descriptions. We then design a simple task for motion-language models to retrieve the more likely text from the ground truth and its chronologically shuffled version. CAR reveals many cases where current motion-language models fail to distinguish the event chronology of human motion, despite their impressive performance in terms of conventional evaluation metrics. To achieve better temporal alignment between text and motion, we further propose to use these texts with shuffled sequence of events as negative samples during training to reinforce the motion-language models. We conduct experiments on text-motion retrieval and text-to-motion generation using the reinforced motion-language models, which demonstrate improved performance over conventional approaches, indicating the necessity to consider temporal elements in motion-language alignment.

We present MM-Navigator, a GPT-4V-based agent for the smartphone graphical user interface (GUI) navigation task. MM-Navigator can interact with a smartphone screen as human users, and determine subsequent actions to fulfill given instructions. Our findings demonstrate that large multimodal models (LMMs), specifically GPT-4V, excel in zero-shot GUI navigation through its advanced screen interpretation, action reasoning, and precise action localization capabilities. We first benchmark MM-Navigator on our collected iOS screen dataset. According to human assessments, the system exhibited a 91\% accuracy rate in generating reasonable action descriptions and a 75\% accuracy rate in executing the correct actions for single-step instructions on iOS. Additionally, we evaluate the model on a subset of an Android screen navigation dataset, where the model outperforms previous GUI navigators in a zero-shot fashion. Our benchmark and detailed analyses aim to lay a robust groundwork for future research into the GUI navigation task. The project page is at https://github.com/zzxslp/MM-Navigator.

Most existing GUI agents typically depend on non-vision inputs like HTML source code or accessibility trees, limiting their flexibility across diverse software environments and platforms. Current multimodal large language models (MLLMs), which excel at using vision to ground real-world objects, offer a potential alternative. However, they often struggle with accurately localizing GUI elements -- a critical requirement for effective GUI automation -- due to the semantic gap between real-world objects and GUI elements. In this work, we introduce Ponder & Press, a divide-and-conquer framework for general computer control using only visual input. Our approach combines an general-purpose MLLM as an 'interpreter', responsible for translating high-level user instructions into detailed action descriptions, with a GUI-specific MLLM as a 'locator' that precisely locates GUI elements for action placement. By leveraging a purely visual input, our agent offers a versatile, human-like interaction paradigm applicable to a wide range of applications. Ponder & Press locator outperforms existing models by +22.5% on the ScreenSpot GUI grounding benchmark. Both offline and interactive agent benchmarks across various GUI environments -- including web pages, desktop software, and mobile UIs -- demonstrate that Ponder & Press framework achieves state-of-the-art performance, highlighting the potential of visual GUI agents. Refer to the project homepage https://invinciblewyq.github.io/ponder-press-page/

Zero-shot action recognition (ZSAR) aims to learn an alignment model between videos and class descriptions of seen actions that is transferable to unseen actions. The text queries (class descriptions) used in existing ZSAR works, however, are often short action names that fail to capture the rich semantics in the videos, leading to misalignment. With the intuition that video content descriptions (e.g., video captions) can provide rich contextual information of visual concepts in videos, we propose to utilize human annotated video descriptions to enrich the semantics of the class descriptions of each action. However, all existing action video description datasets are limited in terms of the number of actions, the semantics of video descriptions, etc. To this end, we collect a large-scale action video descriptions dataset named ActionHub, which covers a total of 1,211 common actions and provides 3.6 million action video descriptions. With the proposed ActionHub dataset, we further propose a novel Cross-modality and Cross-action Modeling (CoCo) framework for ZSAR, which consists of a Dual Cross-modality Alignment module and a Cross-action Invariance Mining module. Specifically, the Dual Cross-modality Alignment module utilizes both action labels and video descriptions from ActionHub to obtain rich class semantic features for feature alignment. The Cross-action Invariance Mining module exploits a cycle-reconstruction process between the class semantic feature spaces of seen actions and unseen actions, aiming to guide the model to learn cross-action invariant representations. Extensive experimental results demonstrate that our CoCo framework significantly outperforms the state-of-the-art on three popular ZSAR benchmarks (i.e., Kinetics-ZSAR, UCF101 and HMDB51) under two different learning protocols in ZSAR. We will release our code, models, and the proposed ActionHub dataset.

We present Palm, a solution to the Long-Term Action Anticipation (LTA) task utilizing vision-language and large language models. Given an input video with annotated action periods, the LTA task aims to predict possible future actions. We hypothesize that an optimal solution should capture the interdependency between past and future actions, and be able to infer future actions based on the structure and dependency encoded in the past actions. Large language models have demonstrated remarkable commonsense-based reasoning ability. Inspired by that, Palm chains an image captioning model and a large language model. It predicts future actions based on frame descriptions and action labels extracted from the input videos. Our method outperforms other participants in the EGO4D LTA challenge and achieves the best performance in terms of action prediction. Our code is available at https://github.com/DanDoge/Palm

We introduce UbiPhysio, a milestone framework that delivers fine-grained action description and feedback in natural language to support people's daily functioning, fitness, and rehabilitation activities. This expert-like capability assists users in properly executing actions and maintaining engagement in remote fitness and rehabilitation programs. Specifically, the proposed UbiPhysio framework comprises a fine-grained action descriptor and a knowledge retrieval-enhanced feedback module. The action descriptor translates action data, represented by a set of biomechanical movement features we designed based on clinical priors, into textual descriptions of action types and potential movement patterns. Building on physiotherapeutic domain knowledge, the feedback module provides clear and engaging expert feedback. We evaluated UbiPhysio's performance through extensive experiments with data from 104 diverse participants, collected in a home-like setting during 25 types of everyday activities and exercises. We assessed the quality of the language output under different tuning strategies using standard benchmarks. We conducted a user study to gather insights from clinical physiotherapists and potential users about our framework. Our initial tests show promise for deploying UbiPhysio in real-life settings without specialized devices.

Action-centric sequence descriptions like recipe instructions and do-it-yourself projects include non-linear patterns in which the next step may require to be visually consistent not on the immediate previous step but on earlier steps. Current video synthesis approaches fail to generate consistent multi-scene videos for such task descriptions. We propose a contrastive sequential video diffusion method that selects the most suitable previously generated scene to guide and condition the denoising process of the next scene. The result is a multi-scene video that is grounded in the scene descriptions and coherent w.r.t the scenes that require consistent visualisation. Our experiments with real-world data demonstrate the practicality and improved consistency of our model compared to prior work.

This paper presents a novel approach to Zero-Shot Action Recognition. Recent works have explored the detection and classification of objects to obtain semantic information from videos with remarkable performance. Inspired by them, we propose using video captioning methods to extract semantic information about objects, scenes, humans, and their relationships. To the best of our knowledge, this is the first work to represent both videos and labels with descriptive sentences. More specifically, we represent videos using sentences generated via video captioning methods and classes using sentences extracted from documents acquired through search engines on the Internet. Using these representations, we build a shared semantic space employing BERT-based embedders pre-trained in the paraphrasing task on multiple text datasets. The projection of both visual and semantic information onto this space is straightforward, as they are sentences, enabling classification using the nearest neighbor rule. We demonstrate that representing videos and labels with sentences alleviates the domain adaptation problem. Additionally, we show that word vectors are unsuitable for building the semantic embedding space of our descriptions. Our method outperforms the state-of-the-art performance on the UCF101 dataset by 3.3 p.p. in accuracy under the TruZe protocol and achieves competitive results on both the UCF101 and HMDB51 datasets under the conventional protocol (0/50\% - training/testing split). Our code is available at https://github.com/valterlej/zsarcap.

Visual-Language Models (VLMs) have significantly advanced action video recognition. Supervised by the semantics of action labels, recent works adapt the visual branch of VLMs to learn video representations. Despite the effectiveness proved by these works, we believe that the potential of VLMs has yet to be fully harnessed. In light of this, we exploit the semantic units (SU) hiding behind the action labels and leverage their correlations with fine-grained items in frames for more accurate action recognition. SUs are entities extracted from the language descriptions of the entire action set, including body parts, objects, scenes, and motions. To further enhance the alignments between visual contents and the SUs, we introduce a multi-region module (MRA) to the visual branch of the VLM. The MRA allows the perception of region-aware visual features beyond the original global feature. Our method adaptively attends to and selects relevant SUs with visual features of frames. With a cross-modal decoder, the selected SUs serve to decode spatiotemporal video representations. In summary, the SUs as the medium can boost discriminative ability and transferability. Specifically, in fully-supervised learning, our method achieved 87.8\% top-1 accuracy on Kinetics-400. In K=2 few-shot experiments, our method surpassed the previous state-of-the-art by +7.1% and +15.0% on HMDB-51 and UCF-101, respectively.

Zero-Shot Temporal Action Localization (ZS-TAL) seeks to identify and locate actions in untrimmed videos unseen during training. Existing ZS-TAL methods involve fine-tuning a model on a large amount of annotated training data. While effective, training-based ZS-TAL approaches assume the availability of labeled data for supervised learning, which can be impractical in some applications. Furthermore, the training process naturally induces a domain bias into the learned model, which may adversely affect the model's generalization ability to arbitrary videos. These considerations prompt us to approach the ZS-TAL problem from a radically novel perspective, relaxing the requirement for training data. To this aim, we introduce a novel method that performs Test-Time adaptation for Temporal Action Localization (T3AL). In a nutshell, T3AL adapts a pre-trained Vision and Language Model (VLM). T3AL operates in three steps. First, a video-level pseudo-label of the action category is computed by aggregating information from the entire video. Then, action localization is performed adopting a novel procedure inspired by self-supervised learning. Finally, frame-level textual descriptions extracted with a state-of-the-art captioning model are employed for refining the action region proposals. We validate the effectiveness of T3AL by conducting experiments on the THUMOS14 and the ActivityNet-v1.3 datasets. Our results demonstrate that T3AL significantly outperforms zero-shot baselines based on state-of-the-art VLMs, confirming the benefit of a test-time adaptation approach.

Temporal Action Detection (TAD) focuses on detecting pre-defined actions, while Moment Retrieval (MR) aims to identify the events described by open-ended natural language within untrimmed videos. Despite that they focus on different events, we observe they have a significant connection. For instance, most descriptions in MR involve multiple actions from TAD. In this paper, we aim to investigate the potential synergy between TAD and MR. Firstly, we propose a unified architecture, termed Unified Moment Detection (UniMD), for both TAD and MR. It transforms the inputs of the two tasks, namely actions for TAD or events for MR, into a common embedding space, and utilizes two novel query-dependent decoders to generate a uniform output of classification score and temporal segments. Secondly, we explore the efficacy of two task fusion learning approaches, pre-training and co-training, in order to enhance the mutual benefits between TAD and MR. Extensive experiments demonstrate that the proposed task fusion learning scheme enables the two tasks to help each other and outperform the separately trained counterparts. Impressively, UniMD achieves state-of-the-art results on three paired datasets Ego4D, Charades-STA, and ActivityNet. Our code is available at https://github.com/yingsen1/UniMD.

We introduce Latent Action Pretraining for general Action models (LAPA), an 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 during pretraining, which significantly limits possible data sources and scale. In this work, we propose a method to learn from internet-scale videos that do not have robot action labels. We first train an action quantization model leveraging VQ-VAE-based objective to learn discrete latent actions between image frames, then pretrain a latent VLA model to predict these latent actions from observations and task descriptions, and finally finetune the VLA on small-scale robot manipulation data to map from latent to robot actions. Experimental results demonstrate that our method significantly outperforms existing techniques that train robot manipulation policies from large-scale videos. Furthermore, it outperforms the state-of-the-art VLA model trained with robotic action labels on real-world manipulation tasks that require language conditioning, generalization to unseen objects, and semantic generalization to unseen instructions. Training only on human manipulation videos also shows positive transfer, opening up the potential for leveraging web-scale data for robotics foundation model.

We present a new general learning approach for action recognition, Prompt Learning for Action Recognition (PLAR), which leverages the strengths of prompt learning to guide the learning process. Our approach is designed to predict the action label by helping the models focus on the descriptions or instructions associated with actions in the input videos. Our formulation uses various prompts, including optical flow, large vision models, and learnable prompts to improve the recognition performance. Moreover, we propose a learnable prompt method that learns to dynamically generate prompts from a pool of prompt experts under different inputs. By sharing the same objective, our proposed PLAR can optimize prompts that guide the model's predictions while explicitly learning input-invariant (prompt experts pool) and input-specific (data-dependent) prompt knowledge. We evaluate our approach on datasets consisting of both ground camera videos and aerial videos, and scenes with single-agent and multi-agent actions. In practice, we observe a 3.17-10.2% accuracy improvement on the aerial multi-agent dataset, Okutamam and 0.8-2.6% improvement on the ground camera single-agent dataset, Something Something V2. We plan to release our code on the WWW.

Skeleton-based action recognition has recently received considerable attention. Current approaches to skeleton-based action recognition are typically formulated as one-hot classification tasks and do not fully exploit the semantic relations between actions. For example, "make victory sign" and "thumb up" are two actions of hand gestures, whose major difference lies in the movement of hands. This information is agnostic from the categorical one-hot encoding of action classes but could be unveiled from the action description. Therefore, utilizing action description in training could potentially benefit representation learning. In this work, we propose a Generative Action-description Prompts (GAP) approach for skeleton-based action recognition. More specifically, we employ a pre-trained large-scale language model as the knowledge engine to automatically generate text descriptions for body parts movements of actions, and propose a multi-modal training scheme by utilizing the text encoder to generate feature vectors for different body parts and supervise the skeleton encoder for action representation learning. Experiments show that our proposed GAP method achieves noticeable improvements over various baseline models without extra computation cost at inference. GAP achieves new state-of-the-arts on popular skeleton-based action recognition benchmarks, including NTU RGB+D, NTU RGB+D 120 and NW-UCLA. The source code is available at https://github.com/MartinXM/GAP.

Recently, Large Language Models (LLMs) have achieved remarkable success using in-context learning (ICL) in the language domain. However, leveraging the ICL capabilities within LLMs to directly predict robot actions remains largely unexplored. In this paper, we introduce RoboPrompt, a framework that enables off-the-shelf text-only LLMs to directly predict robot actions through ICL without training. Our approach first heuristically identifies keyframes that capture important moments from an episode. Next, we extract end-effector actions from these keyframes as well as the estimated initial object poses, and both are converted into textual descriptions. Finally, we construct a structured template to form ICL demonstrations from these textual descriptions and a task instruction. This enables an LLM to directly predict robot actions at test time. Through extensive experiments and analysis, RoboPrompt shows stronger performance over zero-shot and ICL baselines in simulated and real-world settings.

We have witnessed impressive advances in video action understanding. Increased dataset sizes, variability, and computation availability have enabled leaps in performance and task diversification. Current systems can provide coarse- and fine-grained descriptions of video scenes, extract segments corresponding to queries, synthesize unobserved parts of videos, and predict context. This survey comprehensively reviews advances in uni- and multi-modal action understanding across a range of tasks. We focus on prevalent challenges, overview widely adopted datasets, and survey seminal works with an emphasis on recent advances. We broadly distinguish between three temporal scopes: (1) recognition tasks of actions observed in full, (2) prediction tasks for ongoing partially observed actions, and (3) forecasting tasks for subsequent unobserved action. This division allows us to identify specific action modeling and video representation challenges. Finally, we outline future directions to address current shortcomings.

Autonomous driving, particularly navigating complex and unanticipated scenarios, demands sophisticated reasoning and planning capabilities. While Multi-modal Large Language Models (MLLMs) offer a promising avenue for this, their use has been largely confined to understanding complex environmental contexts or generating high-level driving commands, with few studies extending their application to end-to-end path planning. A major research bottleneck is the lack of large-scale annotated datasets encompassing vision, language, and action. To address this issue, we propose CoVLA (Comprehensive Vision-Language-Action) Dataset, an extensive dataset comprising real-world driving videos spanning more than 80 hours. This dataset leverages a novel, scalable approach based on automated data processing and a caption generation pipeline to generate accurate driving trajectories paired with detailed natural language descriptions of driving environments and maneuvers. This approach utilizes raw in-vehicle sensor data, allowing it to surpass existing datasets in scale and annotation richness. Using CoVLA, we investigate the driving capabilities of MLLMs that can handle vision, language, and action in a variety of driving scenarios. Our results illustrate the strong proficiency of our model in generating coherent language and action outputs, emphasizing the potential of Vision-Language-Action (VLA) models in the field of autonomous driving. This dataset establishes a framework for robust, interpretable, and data-driven autonomous driving systems by providing a comprehensive platform for training and evaluating VLA models, contributing to safer and more reliable self-driving vehicles. The dataset is released for academic purpose.

We introduce a new task called Referring Atomic Video Action Recognition (RAVAR), aimed at identifying atomic actions of a particular person based on a textual description and the video data of this person. This task differs from traditional action recognition and localization, where predictions are delivered for all present individuals. In contrast, we focus on recognizing the correct atomic action of a specific individual, guided by text. To explore this task, we present the RefAVA dataset, containing 36,630 instances with manually annotated textual descriptions of the individuals. To establish a strong initial benchmark, we implement and validate baselines from various domains, e.g., atomic action localization, video question answering, and text-video retrieval. Since these existing methods underperform on RAVAR, we introduce RefAtomNet -- a novel cross-stream attention-driven method specialized for the unique challenges of RAVAR: the need to interpret a textual referring expression for the targeted individual, utilize this reference to guide the spatial localization and harvest the prediction of the atomic actions for the referring person. The key ingredients are: (1) a multi-stream architecture that connects video, text, and a new location-semantic stream, and (2) cross-stream agent attention fusion and agent token fusion which amplify the most relevant information across these streams and consistently surpasses standard attention-based fusion on RAVAR. Extensive experiments demonstrate the effectiveness of RefAtomNet and its building blocks for recognizing the action of the described individual. The dataset and code will be made publicly available at https://github.com/KPeng9510/RAVAR.

Captioning is a crucial and challenging task for video understanding. In videos that involve active agents such as humans, the agent's actions can bring about myriad changes in the scene. Observable changes such as movements, manipulations, and transformations of the objects in the scene, are reflected in conventional video captioning. Unlike images, actions in videos are also inherently linked to social aspects such as intentions (why the action is taking place), effects (what changes due to the action), and attributes that describe the agent. Thus for video understanding, such as when captioning videos or when answering questions about videos, one must have an understanding of these commonsense aspects. We present the first work on generating commonsense captions directly from videos, to describe latent aspects such as intentions, effects, and attributes. We present a new dataset "Video-to-Commonsense (V2C)" that contains sim9k videos of human agents performing various actions, annotated with 3 types of commonsense descriptions. Additionally we explore the use of open-ended video-based commonsense question answering (V2C-QA) as a way to enrich our captions. Both the generation task and the QA task can be used to enrich video captions.

We present a new problem: grounding natural language instructions to mobile user interface actions, and create three new datasets for it. For full task evaluation, we create PIXELHELP, a corpus that pairs English instructions with actions performed by people on a mobile UI emulator. To scale training, we decouple the language and action data by (a) annotating action phrase spans in HowTo instructions and (b) synthesizing grounded descriptions of actions for mobile user interfaces. We use a Transformer to extract action phrase tuples from long-range natural language instructions. A grounding Transformer then contextually represents UI objects using both their content and screen position and connects them to object descriptions. Given a starting screen and instruction, our model achieves 70.59% accuracy on predicting complete ground-truth action sequences in PIXELHELP.

What makes good video representations for video understanding, such as anticipating future activities, or answering video-conditioned questions? While earlier approaches focus on end-to-end learning directly from video pixels, we propose to revisit text-based representations, such as discrete action labels, or free-form video captions, which are interpretable and can be directly consumed by large language models (LLMs). Intuitively, different video understanding tasks may require representations that are complementary and at different granularities. To this end, we propose versatile action models (Vamos), a learning framework powered by a large language model as the "reasoner", and can flexibly leverage visual embeddings, action labels, and free-form descriptions extracted from videos as its input. We evaluate Vamos on four complementary video understanding benchmarks, Ego4D, Next-QA, IntentQA, and EgoSchema, on its capability to model temporal dynamics, encode visual history, and perform reasoning. Surprisingly, we observe that text-based representations consistently achieve competitive performance on all benchmarks, and that visual embeddings provide marginal or no performance improvement, demonstrating the effectiveness of text-based video representation in the LLM era. We perform extensive ablation study and qualitative analysis to support our observations, and achieve state-of-the-art performance on three benchmarks.

We propose MM-REACT, a system paradigm that integrates ChatGPT with a pool of vision experts to achieve multimodal reasoning and action. In this paper, we define and explore a comprehensive list of advanced vision tasks that are intriguing to solve, but may exceed the capabilities of existing vision and vision-language models. To achieve such advanced visual intelligence, MM-REACT introduces a textual prompt design that can represent text descriptions, textualized spatial coordinates, and aligned file names for dense visual signals such as images and videos. MM-REACT's prompt design allows language models to accept, associate, and process multimodal information, thereby facilitating the synergetic combination of ChatGPT and various vision experts. Zero-shot experiments demonstrate MM-REACT's effectiveness in addressing the specified capabilities of interests and its wide application in different scenarios that require advanced visual understanding. Furthermore, we discuss and compare MM-REACT's system paradigm with an alternative approach that extends language models for multimodal scenarios through joint finetuning. Code, demo, video, and visualization are available at https://multimodal-react.github.io/

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an image, this makes for an unnatural interface. Language provides a more convenient modality for communication with robots, but contemporary methods typically require expensive supervision, in the form of trajectories annotated with language descriptions. We present a system, LM-Nav, for robotic navigation that enjoys the benefits of training on unannotated large datasets of trajectories, while still providing a high-level interface to the user. Instead of utilizing a labeled instruction following dataset, we show that such a system can be constructed entirely out of pre-trained models for navigation (ViNG), image-language association (CLIP), and language modeling (GPT-3), without requiring any fine-tuning or language-annotated robot data. We instantiate LM-Nav on a real-world mobile robot and demonstrate long-horizon navigation through complex, outdoor environments from natural language instructions. For videos of our experiments, code release, and an interactive Colab notebook that runs in your browser, please check out our project page https://sites.google.com/view/lmnav

Spatio-temporal grounding describes the task of localizing events in space and time, e.g., in video data, based on verbal descriptions only. Models for this task are usually trained with human-annotated sentences and bounding box supervision. This work addresses this task from a multimodal supervision perspective, proposing a framework for spatio-temporal action grounding trained on loose video and subtitle supervision only, without human annotation. To this end, we combine local representation learning, which focuses on leveraging fine-grained spatial information, with a global representation encoding that captures higher-level representations and incorporates both in a joint approach. To evaluate this challenging task in a real-life setting, a new benchmark dataset is proposed providing dense spatio-temporal grounding annotations in long, untrimmed, multi-action instructional videos for over 5K events. We evaluate the proposed approach and other methods on the proposed and standard downstream tasks showing that our method improves over current baselines in various settings, including spatial, temporal, and untrimmed multi-action spatio-temporal grounding.

Mobile app user interfaces (UIs) are rich with action, text, structure, and image content that can be utilized to learn generic UI representations for tasks like automating user commands, summarizing content, and evaluating the accessibility of user interfaces. Prior work has learned strong visual representations with local or global captioning losses, but fails to retain both granularities. To combat this, we propose Textual Foresight, a novel pretraining objective for learning UI screen representations. Textual Foresight generates global text descriptions of future UI states given a current UI and local action taken. Our approach requires joint reasoning over elements and entire screens, resulting in improved UI features: on generation tasks, UI agents trained with Textual Foresight outperform state-of-the-art by 2% with 28x fewer images. We train with our newly constructed mobile app dataset, OpenApp, which results in the first public dataset for app UI representation learning. OpenApp enables new baselines, and we find Textual Foresight improves average task performance over them by 5.7% while having access to 2x less data.

Despite an exciting new wave of multimodal machine learning models, current approaches still struggle to interpret the complex contextual relationships between the different modalities present in videos. Going beyond existing methods that emphasize simple activities or objects, we propose a new model-agnostic approach for generating detailed textual descriptions that captures multimodal video information. Our method leverages the extensive knowledge learnt by large language models, such as GPT-3.5 or Llama2, to reason about textual descriptions of the visual and aural modalities, obtained from BLIP-2, Whisper and ImageBind. Without needing additional finetuning of video-text models or datasets, we demonstrate that available LLMs have the ability to use these multimodal textual descriptions as proxies for ``sight'' or ``hearing'' and perform zero-shot multimodal classification of videos in-context. Our evaluations on popular action recognition benchmarks, such as UCF-101 or Kinetics, show these context-rich descriptions can be successfully used in video understanding tasks. This method points towards a promising new research direction in multimodal classification, demonstrating how an interplay between textual, visual and auditory machine learning models can enable more holistic video understanding.

Computer vision has a great potential to help our daily lives by searching for lost keys, watering flowers or reminding us to take a pill. To succeed with such tasks, computer vision methods need to be trained from real and diverse examples of our daily dynamic scenes. While most of such scenes are not particularly exciting, they typically do not appear on YouTube, in movies or TV broadcasts. So how do we collect sufficiently many diverse but boring samples representing our lives? We propose a novel Hollywood in Homes approach to collect such data. Instead of shooting videos in the lab, we ensure diversity by distributing and crowdsourcing the whole process of video creation from script writing to video recording and annotation. Following this procedure we collect a new dataset, Charades, with hundreds of people recording videos in their own homes, acting out casual everyday activities. The dataset is composed of 9,848 annotated videos with an average length of 30 seconds, showing activities of 267 people from three continents. Each video is annotated by multiple free-text descriptions, action labels, action intervals and classes of interacted objects. In total, Charades provides 27,847 video descriptions, 66,500 temporally localized intervals for 157 action classes and 41,104 labels for 46 object classes. Using this rich data, we evaluate and provide baseline results for several tasks including action recognition and automatic description generation. We believe that the realism, diversity, and casual nature of this dataset will present unique challenges and new opportunities for computer vision community.

Modeling the physical contacts between the hand and object is standard for refining inaccurate hand poses and generating novel human grasp in 3D hand-object reconstruction. However, existing methods rely on geometric constraints that cannot be specified or controlled. This paper introduces a novel task of controllable 3D hand-object contact modeling with natural language descriptions. Challenges include i) the complexity of cross-modal modeling from language to contact, and ii) a lack of descriptive text for contact patterns. To address these issues, we propose NL2Contact, a model that generates controllable contacts by leveraging staged diffusion models. Given a language description of the hand and contact, NL2Contact generates realistic and faithful 3D hand-object contacts. To train the model, we build ContactDescribe, the first dataset with hand-centered contact descriptions. It contains multi-level and diverse descriptions generated by large language models based on carefully designed prompts (e.g., grasp action, grasp type, contact location, free finger status). We show applications of our model to grasp pose optimization and novel human grasp generation, both based on a textual contact description.

With the advancement of Multimodal Large Language Models (MLLM), LLM-driven visual agents are increasingly impacting software interfaces, particularly those with graphical user interfaces. This work introduces a novel LLM-based multimodal agent framework for mobile devices. This framework, capable of navigating mobile devices, emulates human-like interactions. Our agent constructs a flexible action space that enhances adaptability across various applications including parser, text and vision descriptions. The agent operates through two main phases: exploration and deployment. During the exploration phase, functionalities of user interface elements are documented either through agent-driven or manual explorations into a customized structured knowledge base. In the deployment phase, RAG technology enables efficient retrieval and update from this knowledge base, thereby empowering the agent to perform tasks effectively and accurately. This includes performing complex, multi-step operations across various applications, thereby demonstrating the framework's adaptability and precision in handling customized task workflows. Our experimental results across various benchmarks demonstrate the framework's superior performance, confirming its effectiveness in real-world scenarios. Our code will be open source soon.

Language agents have demonstrated promising capabilities in automating web-based tasks, though their current reactive approaches still underperform largely compared to humans. While incorporating advanced planning algorithms, particularly tree search methods, could enhance these agents' performance, implementing tree search directly on live websites poses significant safety risks and practical constraints due to irreversible actions such as confirming a purchase. In this paper, we introduce a novel paradigm that augments language agents with model-based planning, pioneering the innovative use of large language models (LLMs) as world models in complex web environments. Our method, WebDreamer, builds on the key insight that LLMs inherently encode comprehensive knowledge about website structures and functionalities. Specifically, WebDreamer uses LLMs to simulate outcomes for each candidate action (e.g., "what would happen if I click this button?") using natural language descriptions, and then evaluates these imagined outcomes to determine the optimal action at each step. Empirical results on two representative web agent benchmarks with online interaction -- VisualWebArena and Mind2Web-live -- demonstrate that WebDreamer achieves substantial improvements over reactive baselines. By establishing the viability of LLMs as world models in web environments, this work lays the groundwork for a paradigm shift in automated web interaction. More broadly, our findings open exciting new avenues for future research into 1) optimizing LLMs specifically for world modeling in complex, dynamic environments, and 2) model-based speculative planning for language agents.

We introduce Nymeria - a large-scale, diverse, richly annotated human motion dataset collected in the wild with multiple multimodal egocentric devices. The dataset comes with a) full-body ground-truth motion; b) multiple multimodal egocentric data from Project Aria devices with videos, eye tracking, IMUs and etc; and c) a third-person perspective by an additional observer. All devices are precisely synchronized and localized in on metric 3D world. We derive hierarchical protocol to add in-context language descriptions of human motion, from fine-grain motion narration, to simplified atomic action and high-level activity summarization. To the best of our knowledge, Nymeria dataset is the world's largest collection of human motion in the wild; first of its kind to provide synchronized and localized multi-device multimodal egocentric data; and the world's largest motion-language dataset. It provides 300 hours of daily activities from 264 participants across 50 locations, total travelling distance over 399Km. The language descriptions contain 301.5K sentences in 8.64M words from a vocabulary size of 6545. To demonstrate the potential of the dataset, we evaluate several SOTA algorithms for egocentric body tracking, motion synthesis, and action recognition. Data and code are open-sourced for research (c.f. https://www.projectaria.com/datasets/nymeria).

Recent advancements in personalized Text-to-Video (T2V) generation highlight the importance of integrating character-specific identities and actions. However, previous T2V models struggle with identity consistency and controllable motion dynamics, mainly due to limited fine-grained facial and action-based textual prompts, and datasets that overlook key human attributes and actions. To address these challenges, we propose MotionCharacter, an efficient and high-fidelity human video generation framework designed for identity preservation and fine-grained motion control. We introduce an ID-preserving module to maintain identity fidelity while allowing flexible attribute modifications, and further integrate ID-consistency and region-aware loss mechanisms, significantly enhancing identity consistency and detail fidelity. Additionally, our approach incorporates a motion control module that prioritizes action-related text while maintaining subject consistency, along with a dataset, Human-Motion, which utilizes large language models to generate detailed motion descriptions. For simplify user control during inference, we parameterize motion intensity through a single coefficient, allowing for easy adjustments. Extensive experiments highlight the effectiveness of MotionCharacter, demonstrating significant improvements in ID-preserving, high-quality video generation.

Graphical User Interface (GUI) automation holds significant promise for enhancing human productivity by assisting with computer tasks. Existing task formulations primarily focus on simple tasks that can be specified by a single, language-only instruction, such as "Insert a new slide." In this work, we introduce VideoGUI, a novel multi-modal benchmark designed to evaluate GUI assistants on visual-centric GUI tasks. Sourced from high-quality web instructional videos, our benchmark focuses on tasks involving professional and novel software (e.g., Adobe Photoshop or Stable Diffusion WebUI) and complex activities (e.g., video editing). VideoGUI evaluates GUI assistants through a hierarchical process, allowing for identification of the specific levels at which they may fail: (i) high-level planning: reconstruct procedural subtasks from visual conditions without language descriptions; (ii) middle-level planning: generate sequences of precise action narrations based on visual state (i.e., screenshot) and goals; (iii) atomic action execution: perform specific actions such as accurately clicking designated elements. For each level, we design evaluation metrics across individual dimensions to provide clear signals, such as individual performance in clicking, dragging, typing, and scrolling for atomic action execution. Our evaluation on VideoGUI reveals that even the SoTA large multimodal model GPT4o performs poorly on visual-centric GUI tasks, especially for high-level planning.

In the endeavor to make autonomous robots take actions, task planning is a major challenge that requires translating high-level task descriptions into long-horizon action sequences. Despite recent advances in language model agents, they remain prone to planning errors and limited in their ability to plan ahead. To address these limitations in robotic planning, we advocate a self-refining scheme that iteratively refines a draft plan until an equilibrium is reached. Remarkably, this process can be optimized end-to-end from an analytical perspective without the need to curate additional verifiers or reward models, allowing us to train self-refining planners in a simple supervised learning fashion. Meanwhile, a nested equilibrium sequence modeling procedure is devised for efficient closed-loop planning that incorporates useful feedback from the environment (or an internal world model). Our method is evaluated on the VirtualHome-Env benchmark, showing advanced performance with better scaling for inference computation. Code is available at https://github.com/Singularity0104/equilibrium-planner.

Large Language models (LLMs) have shown remarkable success in assisting robot learning tasks, i.e., complex household planning. However, the performance of pretrained LLMs heavily relies on domain-specific templated text data, which may be infeasible in real-world robot learning tasks with image-based observations. Moreover, existing LLMs with text inputs lack the capability to evolve with non-expert interactions with environments. In this work, we introduce a novel learning paradigm that generates robots' executable actions in the form of text, derived solely from visual observations, using language-based summarization of these observations as the connecting bridge between both domains. Our proposed paradigm stands apart from previous works, which utilized either language instructions or a combination of language and visual data as inputs. Moreover, our method does not require oracle text summarization of the scene, eliminating the need for human involvement in the learning loop, which makes it more practical for real-world robot learning tasks. Our proposed paradigm consists of two modules: the SUM module, which interprets the environment using visual observations and produces a text summary of the scene, and the APM module, which generates executable action policies based on the natural language descriptions provided by the SUM module. We demonstrate that our proposed method can employ two fine-tuning strategies, including imitation learning and reinforcement learning approaches, to adapt to the target test tasks effectively. We conduct extensive experiments involving various SUM/APM model selections, environments, and tasks across 7 house layouts in the VirtualHome environment. Our experimental results demonstrate that our method surpasses existing baselines, confirming the effectiveness of this novel learning paradigm.

Recently, several multi-modal models have been developed for joint image and language understanding, which have demonstrated impressive chat abilities by utilizing advanced large language models (LLMs). The process of developing such models is straightforward yet effective. It involves pre-training an adaptation module to align the semantics of the vision encoder and language model, followed by fine-tuning on the instruction-following data. However, despite the success of this pipeline in image and language understanding, its effectiveness in joint video and language understanding has not been widely explored. In this paper, we aim to develop a novel multi-modal foundation model capable of perceiving video, image, and language within a general framework. To achieve this goal, we introduce Valley: Video Assistant with Large Language model Enhanced ability. Specifically, our proposed Valley model is designed with a simple projection module that bridges video, image, and language modalities, and is further unified with a multi-lingual LLM. We also collect multi-source vision-text pairs and adopt a spatio-temporal pooling strategy to obtain a unified vision encoding of video and image input for pre-training. Furthermore, we generate multi-task instruction-following video data, including multi-shot captions, long video descriptions, action recognition, causal relationship inference, etc. To obtain the instruction-following data, we design diverse rounds of task-oriented conversations between humans and videos, facilitated by ChatGPT. Qualitative examples demonstrate that our proposed model has the potential to function as a highly effective multilingual video assistant that can make complex video understanding scenarios easy. Code, data, and models will be available at https://github.com/RupertLuo/Valley.

We introduce NExT-QA, a rigorously designed video question answering (VideoQA) benchmark to advance video understanding from describing to explaining the temporal actions. Based on the dataset, we set up multi-choice and open-ended QA tasks targeting causal action reasoning, temporal action reasoning, and common scene comprehension. Through extensive analysis of baselines and established VideoQA techniques, we find that top-performing methods excel at shallow scene descriptions but are weak in causal and temporal action reasoning. Furthermore, the models that are effective on multi-choice QA, when adapted to open-ended QA, still struggle in generalizing the answers. This raises doubt on the ability of these models to reason and highlights possibilities for improvement. With detailed results for different question types and heuristic observations for future works, we hope NExT-QA will guide the next generation of VQA research to go beyond superficial scene description towards a deeper understanding of videos. (The dataset and related resources are available at https://github.com/doc-doc/NExT-QA.git)

Text-driven content creation has evolved to be a transformative technique that revolutionizes creativity. Here we study the task of text-driven human video generation, where a video sequence is synthesized from texts describing the appearance and motions of a target performer. Compared to general text-driven video generation, human-centric video generation requires maintaining the appearance of synthesized human while performing complex motions. In this work, we present Text2Performer to generate vivid human videos with articulated motions from texts. Text2Performer has two novel designs: 1) decomposed human representation and 2) diffusion-based motion sampler. First, we decompose the VQVAE latent space into human appearance and pose representation in an unsupervised manner by utilizing the nature of human videos. In this way, the appearance is well maintained along the generated frames. Then, we propose continuous VQ-diffuser to sample a sequence of pose embeddings. Unlike existing VQ-based methods that operate in the discrete space, continuous VQ-diffuser directly outputs the continuous pose embeddings for better motion modeling. Finally, motion-aware masking strategy is designed to mask the pose embeddings spatial-temporally to enhance the temporal coherence. Moreover, to facilitate the task of text-driven human video generation, we contribute a Fashion-Text2Video dataset with manually annotated action labels and text descriptions. Extensive experiments demonstrate that Text2Performer generates high-quality human videos (up to 512x256 resolution) with diverse appearances and flexible motions.

AI agents have drawn increasing attention mostly on their ability to perceive environments, understand tasks, and autonomously achieve goals. To advance research on AI agents in mobile scenarios, we introduce the Android Multi-annotation EXpo (AMEX), a comprehensive, large-scale dataset designed for generalist mobile GUI-control agents. Their capabilities of completing complex tasks by directly interacting with the graphical user interface (GUI) on mobile devices are trained and evaluated with the proposed dataset. AMEX comprises over 104K high-resolution screenshots from 110 popular mobile applications, which are annotated at multiple levels. Unlike existing mobile device-control datasets, e.g., MoTIF, AitW, etc., AMEX includes three levels of annotations: GUI interactive element grounding, GUI screen and element functionality descriptions, and complex natural language instructions, each averaging 13 steps with stepwise GUI-action chains. We develop this dataset from a more instructive and detailed perspective, complementing the general settings of existing datasets. Additionally, we develop a baseline model SPHINX Agent and compare its performance across state-of-the-art agents trained on other datasets. To facilitate further research, we open-source our dataset, models, and relevant evaluation tools. The project is available at https://yuxiangchai.github.io/AMEX/

This paper shows how LLMs (Large Language Models) may be used to estimate a summary of the emotional state associated with piece of text. The summary of emotional state is a dictionary of words used to describe emotion together with the probability of the word appearing after a prompt comprising the original text and an emotion eliciting tail. Through emotion analysis of Amazon product reviews we demonstrate emotion descriptors can be mapped into a PCA type space. It was hoped that text descriptions of actions to improve a current text described state could also be elicited through a tail prompt. Experiment seemed to indicate that this is not straightforward to make work. This failure put our hoped for selection of action via choosing the best predict ed outcome via comparing emotional responses out of reach for the moment.

Audio Description (AD) is the task of generating descriptions of visual content, at suitable time intervals, for the benefit of visually impaired audiences. For movies, this presents notable challenges -- AD must occur only during existing pauses in dialogue, should refer to characters by name, and ought to aid understanding of the storyline as a whole. To this end, we develop a new model for automatically generating movie AD, given CLIP visual features of the frames, the cast list, and the temporal locations of the speech; addressing all three of the 'who', 'when', and 'what' questions: (i) who -- we introduce a character bank consisting of the character's name, the actor that played the part, and a CLIP feature of their face, for the principal cast of each movie, and demonstrate how this can be used to improve naming in the generated AD; (ii) when -- we investigate several models for determining whether an AD should be generated for a time interval or not, based on the visual content of the interval and its neighbours; and (iii) what -- we implement a new vision-language model for this task, that can ingest the proposals from the character bank, whilst conditioning on the visual features using cross-attention, and demonstrate how this improves over previous architectures for AD text generation in an apples-to-apples comparison.

Audio Description (AD) provides linguistic descriptions of movies and allows visually impaired people to follow a movie along with their peers. Such descriptions are by design mainly visual and thus naturally form an interesting data source for computer vision and computational linguistics. In this work we propose a novel dataset which contains transcribed ADs, which are temporally aligned to full length movies. In addition we also collected and aligned movie scripts used in prior work and compare the two sources of descriptions. In total the Large Scale Movie Description Challenge (LSMDC) contains a parallel corpus of 118,114 sentences and video clips from 202 movies. First we characterize the dataset by benchmarking different approaches for generating video descriptions. Comparing ADs to scripts, we find that ADs are indeed more visual and describe precisely what is shown rather than what should happen according to the scripts created prior to movie production. Furthermore, we present and compare the results of several teams who participated in a challenge organized in the context of the workshop "Describing and Understanding Video & The Large Scale Movie Description Challenge (LSMDC)", at ICCV 2015.

We aim to automatically identify human action reasons in online videos. We focus on the widespread genre of lifestyle vlogs, in which people perform actions while verbally describing them. We introduce and make publicly available the WhyAct dataset, consisting of 1,077 visual actions manually annotated with their reasons. We describe a multimodal model that leverages visual and textual information to automatically infer the reasons corresponding to an action presented in the video.

Continuity of care is crucial to ensuring positive health outcomes for patients discharged from an inpatient hospital setting, and improved information sharing can help. To share information, caregivers write discharge notes containing action items to share with patients and their future caregivers, but these action items are easily lost due to the lengthiness of the documents. In this work, we describe our creation of a dataset of clinical action items annotated over MIMIC-III, the largest publicly available dataset of real clinical notes. This dataset, which we call CLIP, is annotated by physicians and covers 718 documents representing 100K sentences. We describe the task of extracting the action items from these documents as multi-aspect extractive summarization, with each aspect representing a type of action to be taken. We evaluate several machine learning models on this task, and show that the best models exploit in-domain language model pre-training on 59K unannotated documents, and incorporate context from neighboring sentences. We also propose an approach to pre-training data selection that allows us to explore the trade-off between size and domain-specificity of pre-training datasets for this task.

Our goal is to synthesize 3D human motions given textual inputs describing simultaneous actions, for example 'waving hand' while 'walking' at the same time. We refer to generating such simultaneous movements as performing 'spatial compositions'. In contrast to temporal compositions that seek to transition from one action to another, spatial compositing requires understanding which body parts are involved in which action, to be able to move them simultaneously. Motivated by the observation that the correspondence between actions and body parts is encoded in powerful language models, we extract this knowledge by prompting GPT-3 with text such as "what are the body parts involved in the action <action name>?", while also providing the parts list and few-shot examples. Given this action-part mapping, we combine body parts from two motions together and establish the first automated method to spatially compose two actions. However, training data with compositional actions is always limited by the combinatorics. Hence, we further create synthetic data with this approach, and use it to train a new state-of-the-art text-to-motion generation model, called SINC ("SImultaneous actioN Compositions for 3D human motions"). In our experiments, that training with such GPT-guided synthetic data improves spatial composition generation over baselines. Our code is publicly available at https://sinc.is.tue.mpg.de/.

Due to the resource-intensive nature of training vision-language models on expansive video data, a majority of studies have centered on adapting pre-trained image-language models to the video domain. Dominant pipelines propose to tackle the visual discrepancies with additional temporal learners while overlooking the substantial discrepancy for web-scaled descriptive narratives and concise action category names, leading to less distinct semantic space and potential performance limitations. In this work, we prioritize the refinement of text knowledge to facilitate generalizable video recognition. To address the limitations of the less distinct semantic space of category names, we prompt a large language model (LLM) to augment action class names into Spatio-Temporal Descriptors thus bridging the textual discrepancy and serving as a knowledge base for general recognition. Moreover, to assign the best descriptors with different video instances, we propose Optimal Descriptor Solver, forming the video recognition problem as solving the optimal matching flow across frame-level representations and descriptors. Comprehensive evaluations in zero-shot, few-shot, and fully supervised video recognition highlight the effectiveness of our approach. Our best model achieves a state-of-the-art zero-shot accuracy of 75.1% on Kinetics-600.

We introduce UCF101 which is currently the largest dataset of human actions. It consists of 101 action classes, over 13k clips and 27 hours of video data. The database consists of realistic user uploaded videos containing camera motion and cluttered background. Additionally, we provide baseline action recognition results on this new dataset using standard bag of words approach with overall performance of 44.5%. To the best of our knowledge, UCF101 is currently the most challenging dataset of actions due to its large number of classes, large number of clips and also unconstrained nature of such clips.

Vision-Language Navigation (VLN) is a challenging task that requires an embodied agent to perform action-level modality alignment, i.e., make instruction-asked actions sequentially in complex visual environments. Most existing VLN agents learn the instruction-path data directly and cannot sufficiently explore action-level alignment knowledge inside the multi-modal inputs. In this paper, we propose modAlity-aligneD Action PrompTs (ADAPT), which provides the VLN agent with action prompts to enable the explicit learning of action-level modality alignment to pursue successful navigation. Specifically, an action prompt is defined as a modality-aligned pair of an image sub-prompt and a text sub-prompt, where the former is a single-view observation and the latter is a phrase like ''walk past the chair''. When starting navigation, the instruction-related action prompt set is retrieved from a pre-built action prompt base and passed through a prompt encoder to obtain the prompt feature. Then the prompt feature is concatenated with the original instruction feature and fed to a multi-layer transformer for action prediction. To collect high-quality action prompts into the prompt base, we use the Contrastive Language-Image Pretraining (CLIP) model which has powerful cross-modality alignment ability. A modality alignment loss and a sequential consistency loss are further introduced to enhance the alignment of the action prompt and enforce the agent to focus on the related prompt sequentially. Experimental results on both R2R and RxR show the superiority of ADAPT over state-of-the-art methods.

The goal of spatial-temporal action detection is to determine the time and place where each person's action occurs in a video and classify the corresponding action category. Most of the existing methods adopt fully-supervised learning, which requires a large amount of training data, making it very difficult to achieve zero-shot learning. In this paper, we propose to utilize a pre-trained visual-language model to extract the representative image and text features, and model the relationship between these features through different interaction modules to obtain the interaction feature. In addition, we use this feature to prompt each label to obtain more appropriate text features. Finally, we calculate the similarity between the interaction feature and the text feature for each label to determine the action category. Our experiments on J-HMDB and UCF101-24 datasets demonstrate that the proposed interaction module and prompting make the visual-language features better aligned, thus achieving excellent accuracy for zero-shot spatio-temporal action detection. The code will be available at https://github.com/webber2933/iCLIP.

As mobile devices are becoming ubiquitous, regularly interacting with a variety of user interfaces (UIs) is a common aspect of daily life for many people. To improve the accessibility of these devices and to enable their usage in a variety of settings, building models that can assist users and accomplish tasks through the UI is vitally important. However, there are several challenges to achieve this. First, UI components of similar appearance can have different functionalities, making understanding their function more important than just analyzing their appearance. Second, domain-specific features like Document Object Model (DOM) in web pages and View Hierarchy (VH) in mobile applications provide important signals about the semantics of UI elements, but these features are not in a natural language format. Third, owing to a large diversity in UIs and absence of standard DOM or VH representations, building a UI understanding model with high coverage requires large amounts of training data. Inspired by the success of pre-training based approaches in NLP for tackling a variety of problems in a data-efficient way, we introduce a new pre-trained UI representation model called ActionBert. Our methodology is designed to leverage visual, linguistic and domain-specific features in user interaction traces to pre-train generic feature representations of UIs and their components. Our key intuition is that user actions, e.g., a sequence of clicks on different UI components, reveals important information about their functionality. We evaluate the proposed model on a wide variety of downstream tasks, ranging from icon classification to UI component retrieval based on its natural language description. Experiments show that the proposed ActionBert model outperforms multi-modal baselines across all downstream tasks by up to 15.5%.

A key challenge with procedure planning in instructional videos lies in how to handle a large decision space consisting of a multitude of action types that belong to various tasks. To understand real-world video content, an AI agent must proficiently discern these action types (e.g., pour milk, pour water, open lid, close lid, etc.) based on brief visual observation. Moreover, it must adeptly capture the intricate semantic relation of the action types and task goals, along with the variable action sequences. Recently, notable progress has been made via the integration of diffusion models and visual representation learning to address the challenge. However, existing models employ rudimentary mechanisms to utilize task information to manage the decision space. To overcome this limitation, we introduce a simple yet effective enhancement - a masked diffusion model. The introduced mask acts akin to a task-oriented attention filter, enabling the diffusion/denoising process to concentrate on a subset of action types. Furthermore, to bolster the accuracy of task classification, we harness more potent visual representation learning techniques. In particular, we learn a joint visual-text embedding, where a text embedding is generated by prompting a pre-trained vision-language model to focus on human actions. We evaluate the method on three public datasets and achieve state-of-the-art performance on multiple metrics. Code is available at https://github.com/ffzzy840304/Masked-PDPP.

This paper introduces a video dataset of spatio-temporally localized Atomic Visual Actions (AVA). The AVA dataset densely annotates 80 atomic visual actions in 430 15-minute video clips, where actions are localized in space and time, resulting in 1.58M action labels with multiple labels per person occurring frequently. The key characteristics of our dataset are: (1) the definition of atomic visual actions, rather than composite actions; (2) precise spatio-temporal annotations with possibly multiple annotations for each person; (3) exhaustive annotation of these atomic actions over 15-minute video clips; (4) people temporally linked across consecutive segments; and (5) using movies to gather a varied set of action representations. This departs from existing datasets for spatio-temporal action recognition, which typically provide sparse annotations for composite actions in short video clips. We will release the dataset publicly. AVA, with its realistic scene and action complexity, exposes the intrinsic difficulty of action recognition. To benchmark this, we present a novel approach for action localization that builds upon the current state-of-the-art methods, and demonstrates better performance on JHMDB and UCF101-24 categories. While setting a new state of the art on existing datasets, the overall results on AVA are low at 15.6% mAP, underscoring the need for developing new approaches for video understanding.

There is a growing interest in device-control systems that can interpret human natural language instructions and execute them on a digital device by directly controlling its user interface. We present a dataset for device-control research, Android in the Wild (AITW), which is orders of magnitude larger than current datasets. The dataset contains human demonstrations of device interactions, including the screens and actions, and corresponding natural language instructions. It consists of 715k episodes spanning 30k unique instructions, four versions of Android (v10-13),and eight device types (Pixel 2 XL to Pixel 6) with varying screen resolutions. It contains multi-step tasks that require semantic understanding of language and visual context. This dataset poses a new challenge: actions available through the user interface must be inferred from their visual appearance. And, instead of simple UI element-based actions, the action space consists of precise gestures (e.g., horizontal scrolls to operate carousel widgets). We organize our dataset to encourage robustness analysis of device-control systems, i.e., how well a system performs in the presence of new task descriptions, new applications, or new platform versions. We develop two agents and report performance across the dataset. The dataset is available at https://github.com/google-research/google-research/tree/master/android_in_the_wild.

As AI continues to advance, there is a growing demand for systems that go beyond language-based assistance and move toward intelligent agents capable of performing real-world actions. This evolution requires the transition from traditional Large Language Models (LLMs), which excel at generating textual responses, to Large Action Models (LAMs), designed for action generation and execution within dynamic environments. Enabled by agent systems, LAMs hold the potential to transform AI from passive language understanding to active task completion, marking a significant milestone in the progression toward artificial general intelligence. In this paper, we present a comprehensive framework for developing LAMs, offering a systematic approach to their creation, from inception to deployment. We begin with an overview of LAMs, highlighting their unique characteristics and delineating their differences from LLMs. Using a Windows OS-based agent as a case study, we provide a detailed, step-by-step guide on the key stages of LAM development, including data collection, model training, environment integration, grounding, and evaluation. This generalizable workflow can serve as a blueprint for creating functional LAMs in various application domains. We conclude by identifying the current limitations of LAMs and discussing directions for future research and industrial deployment, emphasizing the challenges and opportunities that lie ahead in realizing the full potential of LAMs in real-world applications. The code for the data collection process utilized in this paper is publicly available at: https://github.com/microsoft/UFO/tree/main/dataflow, and comprehensive documentation can be found at https://microsoft.github.io/UFO/dataflow/overview/.

In task-oriented dialogue, a system often needs to follow a sequence of actions, called a workflow, that complies with a set of guidelines in order to complete a task. In this paper, we propose the novel problem of multi-step workflow action prediction, in which the system predicts multiple future workflow actions. Accurate prediction of multiple steps allows for multi-turn automation, which can free up time to focus on more complex tasks. We propose three modeling approaches that are simple to implement yet lead to more action automation: 1) fine-tuning on a training dataset, 2) few-shot in-context learning leveraging retrieval and large language model prompting, and 3) zero-shot graph traversal, which aggregates historical action sequences into a graph for prediction. We show that multi-step action prediction produces features that improve accuracy on downstream dialogue tasks like predicting task success, and can increase automation of steps by 20% without requiring as much feedback from a human overseeing the system.

Generative recommendation (GR) is an emerging paradigm where user actions are tokenized into discrete token patterns and autoregressively generated as predictions. However, existing GR models tokenize each action independently, assigning the same fixed tokens to identical actions across all sequences without considering contextual relationships. This lack of context-awareness can lead to suboptimal performance, as the same action may hold different meanings depending on its surrounding context. To address this issue, we propose ActionPiece to explicitly incorporate context when tokenizing action sequences. In ActionPiece, each action is represented as a set of item features, which serve as the initial tokens. Given the action sequence corpora, we construct the vocabulary by merging feature patterns as new tokens, based on their co-occurrence frequency both within individual sets and across adjacent sets. Considering the unordered nature of feature sets, we further introduce set permutation regularization, which produces multiple segmentations of action sequences with the same semantics. Experiments on public datasets demonstrate that ActionPiece consistently outperforms existing action tokenization methods, improving NDCG@10 by 6.00% to 12.82%.

This paper focuses on temporal localization of actions in untrimmed videos. Existing methods typically train classifiers for a pre-defined list of actions and apply them in a sliding window fashion. However, activities in the wild consist of a wide combination of actors, actions and objects; it is difficult to design a proper activity list that meets users' needs. We propose to localize activities by natural language queries. Temporal Activity Localization via Language (TALL) is challenging as it requires: (1) suitable design of text and video representations to allow cross-modal matching of actions and language queries; (2) ability to locate actions accurately given features from sliding windows of limited granularity. We propose a novel Cross-modal Temporal Regression Localizer (CTRL) to jointly model text query and video clips, output alignment scores and action boundary regression results for candidate clips. For evaluation, we adopt TaCoS dataset, and build a new dataset for this task on top of Charades by adding sentence temporal annotations, called Charades-STA. We also build complex sentence queries in Charades-STA for test. Experimental results show that CTRL outperforms previous methods significantly on both datasets.

A law practitioner has to go through a lot of long legal case proceedings. To understand the motivation behind the actions of different parties/individuals in a legal case, it is essential that the parts of the document that express an intent corresponding to the case be clearly understood. In this paper, we introduce a dataset of 93 legal documents, belonging to the case categories of either Murder, Land Dispute, Robbery, or Corruption, where phrases expressing intent same as the category of the document are annotated. Also, we annotate fine-grained intents for each such phrase to enable a deeper understanding of the case for a reader. Finally, we analyze the performance of several transformer-based models in automating the process of extracting intent phrases (both at a coarse and a fine-grained level), and classifying a document into one of the possible 4 categories, and observe that, our dataset is challenging, especially in the case of fine-grained intent classification.

Autonomous user interface (UI) agents aim to facilitate task automation by interacting with the user interface without manual intervention. Recent studies have investigated eliciting the capabilities of large language models (LLMs) for effective engagement in diverse environments. To align with the input-output requirement of LLMs, existing approaches are developed under a sandbox setting where they rely on external tools and application-specific APIs to parse the environment into textual elements and interpret the predicted actions. Consequently, those approaches often grapple with inference inefficiency and error propagation risks. To mitigate the challenges, we introduce Auto-UI, a multimodal solution that directly interacts with the interface, bypassing the need for environment parsing or reliance on application-dependent APIs. Moreover, we propose a chain-of-action technique -- leveraging a series of intermediate previous action histories and future action plans -- to help the agent decide what action to execute. We evaluate our approach on a new device-control benchmark AITW with 30K unique instructions, spanning multi-step tasks such as application operation, web searching, and web shopping. Experimental results show that Auto-UI achieves state-of-the-art performance with an action type prediction accuracy of 90% and an overall action success rate of 74%. Code is publicly available at https://github.com/cooelf/Auto-UI.

The advent of Multimodal LLMs has significantly enhanced image OCR recognition capabilities, making GUI automation a viable reality for increasing efficiency in digital tasks. One fundamental aspect of developing a GUI automation system is understanding primitive GUI actions. This comprehension is crucial as it enables agents to learn from user demonstrations, an essential element of automation. To rigorously evaluate such capabilities, we developed a video captioning benchmark for GUI actions, comprising 4,189 diverse video captioning samples. This task presents unique challenges compared to natural scene video captioning: 1) GUI screenshots typically contain denser information than natural scenes, and 2) events within GUIs are subtler and occur more rapidly, requiring precise attention to the appropriate time span and spatial region for accurate understanding. To address these challenges, we introduce our GUI action dataset Act2Cap as well as a simple yet effective framework, GUI Narrator, for GUI video captioning that utilizes the cursor as a visual prompt to enhance the interpretation of high-resolution screenshots. Specifically, a cursor detector is trained on our dataset, and a multimodal LLM model with mechanisms for selecting keyframes and key regions generates the captions. Experimental results indicate that even for today's most advanced multimodal models, such as GPT-4o, the task remains highly challenging. Additionally, our evaluations show that our strategy effectively enhances model performance, whether integrated into the fine-tuning of open-source models or employed as a prompting strategy in closed-source models.

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even generate action sequences directly, given an instruction in natural language with no additional domain information. However, such methods either require enumerating all possible next steps for scoring, or generate free-form text that may contain actions not possible on a given robot in its current context. We present a programmatic LLM prompt structure that enables plan generation functional across situated environments, robot capabilities, and tasks. Our key insight is to prompt the LLM with program-like specifications of the available actions and objects in an environment, as well as with example programs that can be executed. We make concrete recommendations about prompt structure and generation constraints through ablation experiments, demonstrate state of the art success rates in VirtualHome household tasks, and deploy our method on a physical robot arm for tabletop tasks. Website at progprompt.github.io

In our pursuit of advancing multi-modal AI assistants capable of guiding users to achieve complex multi-step goals, we propose the task of "Visual Planning for Assistance (VPA)". Given a succinct natural language goal, e.g., "make a shelf", and a video of the user's progress so far, the aim of VPA is to devise a plan, i.e., a sequence of actions such as "sand shelf", "paint shelf", etc. to realize the specified goal. This requires assessing the user's progress from the (untrimmed) video, and relating it to the requirements of natural language goal, i.e., which actions to select and in what order? Consequently, this requires handling long video history and arbitrarily complex action dependencies. To address these challenges, we decompose VPA into video action segmentation and forecasting. Importantly, we experiment by formulating the forecasting step as a multi-modal sequence modeling problem, allowing us to leverage the strength of pre-trained LMs (as the sequence model). This novel approach, which we call Visual Language Model based Planner (VLaMP), outperforms baselines across a suite of metrics that gauge the quality of the generated plans. Furthermore, through comprehensive ablations, we also isolate the value of each component--language pre-training, visual observations, and goal information. We have open-sourced all the data, model checkpoints, and training code.

Automatic web navigation aims to build a web agent that can follow language instructions to execute complex and diverse tasks on real-world websites. Existing work primarily takes HTML documents as input, which define the contents and action spaces (i.e., actionable elements and operations) of webpages. Nevertheless, HTML documents may not provide a clear task-related context for each element, making it hard to select the right (sequence of) actions. In this paper, we propose to contextualize HTML elements through their "dual views" in webpage screenshots: each HTML element has its corresponding bounding box and visual content in the screenshot. We build upon the insight -- web developers tend to arrange task-related elements nearby on webpages to enhance user experiences -- and propose to contextualize each element with its neighbor elements, using both textual and visual features. The resulting representations of HTML elements are more informative for the agent to take action. We validate our method on the recently released Mind2Web dataset, which features diverse navigation domains and tasks on real-world websites. Our method consistently outperforms the baseline in all the scenarios, including cross-task, cross-website, and cross-domain ones.

As dialogue agents become increasingly human-like in their performance, it is imperative that we develop effective ways to describe their behaviour in high-level terms without falling into the trap of anthropomorphism. In this paper, we foreground the concept of role-play. Casting dialogue agent behaviour in terms of role-play allows us to draw on familiar folk psychological terms, without ascribing human characteristics to language models they in fact lack. Two important cases of dialogue agent behaviour are addressed this way, namely (apparent) deception and (apparent) self-awareness.

Action localization networks are often structured as a feature encoder sub-network and a localization sub-network, where the feature encoder learns to transform an input video to features that are useful for the localization sub-network to generate reliable action proposals. While some of the encoded features may be more useful for generating action proposals, prior action localization approaches do not include any attention mechanism that enables the localization sub-network to attend more to the more important features. In this paper, we propose a novel attention mechanism, the Class Semantics-based Attention (CSA), that learns from the temporal distribution of semantics of action classes present in an input video to find the importance scores of the encoded features, which are used to provide attention to the more useful encoded features. We demonstrate on two popular action detection datasets that incorporating our novel attention mechanism provides considerable performance gains on competitive action detection models (e.g., around 6.2% improvement over BMN action detection baseline to obtain 47.5% mAP on the THUMOS-14 dataset), and a new state-of-the-art of 36.25% mAP on the ActivityNet v1.3 dataset. Further, the CSA localization model family which includes BMN-CSA, was part of the second-placed submission at the 2021 ActivityNet action localization challenge. Our attention mechanism outperforms prior self-attention modules such as the squeeze-and-excitation in action detection task. We also observe that our attention mechanism is complementary to such self-attention modules in that performance improvements are seen when both are used together.

While large language models (LLMs) have demonstrated impressive capabilities across tasks in language understanding and interactive decision making, their abilities for reasoning (e.g. chain-of-thought prompting) and acting (e.g. action plan generation) have primarily been studied as separate topics. In this paper, we explore the use of LLMs to generate both reasoning traces and task-specific actions in an interleaved manner, allowing for greater synergy between the two: reasoning traces help the model induce, track, and update action plans as well as handle exceptions, while actions allow it to interface with external sources, such as knowledge bases or environments, to gather additional information. We apply our approach, named ReAct, to a diverse set of language and decision making tasks and demonstrate its effectiveness over state-of-the-art baselines, as well as improved human interpretability and trustworthiness over methods without reasoning or acting components. Concretely, on question answering (HotpotQA) and fact verification (Fever), ReAct overcomes issues of hallucination and error propagation prevalent in chain-of-thought reasoning by interacting with a simple Wikipedia API, and generates human-like task-solving trajectories that are more interpretable than baselines without reasoning traces. On two interactive decision making benchmarks (ALFWorld and WebShop), ReAct outperforms imitation and reinforcement learning methods by an absolute success rate of 34% and 10% respectively, while being prompted with only one or two in-context examples. Project site with code: https://react-lm.github.io

Recently, it has been shown that transformers pre-trained on diverse datasets with multi-episode contexts can generalize to new reinforcement learning tasks in-context. A key limitation of previously proposed models is their reliance on a predefined action space size and structure. The introduction of a new action space often requires data re-collection and model re-training, which can be costly for some applications. In our work, we show that it is possible to mitigate this issue by proposing the Headless-AD model that, despite being trained only once, is capable of generalizing to discrete action spaces of variable size, semantic content and order. By experimenting with Bernoulli and contextual bandits, as well as a gridworld environment, we show that Headless-AD exhibits significant capability to generalize to action spaces it has never encountered, even outperforming specialized models trained for a specific set of actions on several environment configurations.

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features from large vision-language models to encode semantics in 3D representations. However, these approaches tend to produce maps with per-point feature vectors, which do not scale well in larger environments, nor do they contain semantic spatial relationships between entities in the environment, which are useful for downstream planning. In this work, we propose ConceptGraphs, an open-vocabulary graph-structured representation for 3D scenes. ConceptGraphs is built by leveraging 2D foundation models and fusing their output to 3D by multi-view association. The resulting representations generalize to novel semantic classes, without the need to collect large 3D datasets or finetune models. We demonstrate the utility of this representation through a number of downstream planning tasks that are specified through abstract (language) prompts and require complex reasoning over spatial and semantic concepts. (Project page: https://concept-graphs.github.io/ Explainer video: https://youtu.be/mRhNkQwRYnc )

The recently released model, Claude 3.5 Computer Use, stands out as the first frontier AI model to offer computer use in public beta as a graphical user interface (GUI) agent. As an early beta, its capability in the real-world complex environment remains unknown. In this case study to explore Claude 3.5 Computer Use, we curate and organize a collection of carefully designed tasks spanning a variety of domains and software. Observations from these cases demonstrate Claude 3.5 Computer Use's unprecedented ability in end-to-end language to desktop actions. Along with this study, we provide an out-of-the-box agent framework for deploying API-based GUI automation models with easy implementation. Our case studies aim to showcase a groundwork of capabilities and limitations of Claude 3.5 Computer Use with detailed analyses and bring to the fore questions about planning, action, and critic, which must be considered for future improvement. We hope this preliminary exploration will inspire future research into the GUI agent community. All the test cases in the paper can be tried through the project: https://github.com/showlab/computer_use_ootb.

Video action detection (VAD) aims to detect actors and classify their actions in a video. We figure that VAD suffers more from classification rather than localization of actors. Hence, we analyze how prevailing methods form features for classification and find that they prioritize actor regions, yet often overlooking the essential contextual information necessary for accurate classification. Accordingly, we propose to reduce the bias toward actor and encourage paying attention to the context that is relevant to each action class. By assigning a class-dedicated query to each action class, our model can dynamically determine where to focus for effective classification. The proposed model demonstrates superior performance on three challenging benchmarks with significantly fewer parameters and less computation.

In this work, we focus on the task of procedure planning from instructional videos with text supervision, where a model aims to predict an action sequence to transform the initial visual state into the goal visual state. A critical challenge of this task is the large semantic gap between observed visual states and unobserved intermediate actions, which is ignored by previous works. Specifically, this semantic gap refers to that the contents in the observed visual states are semantically different from the elements of some action text labels in a procedure. To bridge this semantic gap, we propose a novel event-guided paradigm, which first infers events from the observed states and then plans out actions based on both the states and predicted events. Our inspiration comes from that planning a procedure from an instructional video is to complete a specific event and a specific event usually involves specific actions. Based on the proposed paradigm, we contribute an Event-guided Prompting-based Procedure Planning (E3P) model, which encodes event information into the sequential modeling process to support procedure planning. To further consider the strong action associations within each event, our E3P adopts a mask-and-predict approach for relation mining, incorporating a probabilistic masking scheme for regularization. Extensive experiments on three datasets demonstrate the effectiveness of our proposed model.

Large language models (LLMs) have shown remarkable potential as human-like autonomous language agents to interact with real-world environments, especially for graphical user interface (GUI) automation. However, those GUI agents require comprehensive cognition ability including exhaustive perception and reliable action response. We propose Comprehensive Cognitive LLM Agent, CoCo-Agent, with two novel approaches, comprehensive environment perception (CEP) and conditional action prediction (CAP), to systematically improve the GUI automation performance. First, CEP facilitates the GUI perception through different aspects and granularity, including screenshots and complementary detailed layouts for the visual channel and historical actions for the textual channel. Second, CAP decomposes the action prediction into sub-problems: action type prediction and action target conditioned on the action type. With our technical design, our agent achieves new state-of-the-art performance on AITW and META-GUI benchmarks, showing promising abilities in realistic scenarios. Code is available at https://github.com/xbmxb/AAgent.

Large Language Model (LLM) agents, capable of performing a broad range of actions, such as invoking tools and controlling robots, show great potential in tackling real-world challenges. LLM agents are typically prompted to produce actions by generating JSON or text in a pre-defined format, which is usually limited by constrained action space (e.g., the scope of pre-defined tools) and restricted flexibility (e.g., inability to compose multiple tools). This work proposes to use executable Python code to consolidate LLM agents' actions into a unified action space (CodeAct). Integrated with a Python interpreter, CodeAct can execute code actions and dynamically revise prior actions or emit new actions upon new observations through multi-turn interactions. Our extensive analysis of 17 LLMs on API-Bank and a newly curated benchmark shows that CodeAct outperforms widely used alternatives (up to 20% higher success rate). The encouraging performance of CodeAct motivates us to build an open-source LLM agent that interacts with environments by executing interpretable code and collaborates with users using natural language. To this end, we collect an instruction-tuning dataset CodeActInstruct that consists of 7k multi-turn interactions using CodeAct. We show that it can be used with existing data to improve models in agent-oriented tasks without compromising their general capability. CodeActAgent, finetuned from Llama2 and Mistral, is integrated with Python interpreter and uniquely tailored to perform sophisticated tasks (e.g., model training) using existing libraries and autonomously self-debug.

Understanding human activity is a crucial yet intricate task in egocentric vision, a field that focuses on capturing visual perspectives from the camera wearer's viewpoint. While traditional methods heavily rely on representation learning trained on extensive video data, there exists a significant limitation: obtaining effective video representations proves challenging due to the inherent complexity and variability in human activities.Furthermore, exclusive dependence on video-based learning may constrain a model's capability to generalize across long-tail classes and out-of-distribution scenarios. In this study, we introduce a novel approach for long-term action anticipation using language models (LALM), adept at addressing the complex challenges of long-term activity understanding without the need for extensive training. Our method incorporates an action recognition model to track previous action sequences and a vision-language model to articulate relevant environmental details. By leveraging the context provided by these past events, we devise a prompting strategy for action anticipation using large language models (LLMs). Moreover, we implement Maximal Marginal Relevance for example selection to facilitate in-context learning of the LLMs. Our experimental results demonstrate that LALM surpasses the state-of-the-art methods in the task of long-term action anticipation on the Ego4D benchmark. We further validate LALM on two additional benchmarks, affirming its capacity for generalization across intricate activities with different sets of taxonomies. These are achieved without specific fine-tuning.

In this work, we take aim towards increasing the effectiveness of surgical assistant robots. We intended to make assistant robots safer by making them aware about the actions of surgeon, so it can take appropriate assisting actions. In other words, we aim to solve the problem of surgeon action detection in endoscopic videos. To this, we introduce a challenging dataset for surgeon action detection in real-world endoscopic videos. Action classes are picked based on the feedback of surgeons and annotated by medical professional. Given a video frame, we draw bounding box around surgical tool which is performing action and label it with action label. Finally, we presenta frame-level action detection baseline model based on recent advances in ob-ject detection. Results on our new dataset show that our presented dataset provides enough interesting challenges for future method and it can serveas strong benchmark corresponding research in surgeon action detection in endoscopic videos.

When engaging in collaborative tasks, humans efficiently exploit the semantic structure of a conversation to optimize verbal and nonverbal interactions. But in recent "language to code" or "language to action" models, this information is lacking. We show how incorporating the prior discourse and nonlinguistic context of a conversation situated in a nonlinguistic environment can improve the "language to action" component of such interactions. We fine tune an LLM to predict actions based on prior context; our model, NeBuLa, doubles the net-action F1 score over the baseline on this task of Jayannavar et al.(2020). We also investigate our model's ability to construct shapes and understand location descriptions using a synthetic dataset.

We develop a system which generates summaries from seniors' indoor-activity videos captured by a social robot to help remote family members know their seniors' daily activities at home. Unlike the traditional video summarization datasets, indoor videos captured from a moving robot poses additional challenges, namely, (i) the video sequences are very long (ii) a significant number of video-frames contain no-subject or with subjects at ill-posed locations and scales (iii) most of the well-posed frames contain highly redundant information. To address this problem, we propose to exploit pose estimation for detecting people in frames. This guides the robot to follow the user and capture effective videos. We use person identification to distinguish a target senior from other people. We also make use of action recognition to analyze seniors' major activities at different moments, and develop a video summarization method to select diverse and representative keyframes as summaries.

Much of the previous work towards digital agents for graphical user interfaces (GUIs) has relied on text-based representations (derived from HTML or other structured data sources), which are not always readily available. These input representations have been often coupled with custom, task-specific action spaces. This paper focuses on creating agents that interact with the digital world using the same conceptual interface that humans commonly use -- via pixel-based screenshots and a generic action space corresponding to keyboard and mouse actions. Building upon recent progress in pixel-based pretraining, we show, for the first time, that it is possible for such agents to outperform human crowdworkers on the MiniWob++ benchmark of GUI-based instruction following tasks.

Language-guided human motion synthesis has been a challenging task due to the inherent complexity and diversity of human behaviors. Previous methods face limitations in generalization to novel actions, often resulting in unrealistic or incoherent motion sequences. In this paper, we propose ATOM (ATomic mOtion Modeling) to mitigate this problem, by decomposing actions into atomic actions, and employing a curriculum learning strategy to learn atomic action composition. First, we disentangle complex human motions into a set of atomic actions during learning, and then assemble novel actions using the learned atomic actions, which offers better adaptability to new actions. Moreover, we introduce a curriculum learning training strategy that leverages masked motion modeling with a gradual increase in the mask ratio, and thus facilitates atomic action assembly. This approach mitigates the overfitting problem commonly encountered in previous methods while enforcing the model to learn better motion representations. We demonstrate the effectiveness of ATOM through extensive experiments, including text-to-motion and action-to-motion synthesis tasks. We further illustrate its superiority in synthesizing plausible and coherent text-guided human motion sequences.

Foundation Vision Language Models (VLMs) exhibit strong capabilities in multi-modal representation learning, comprehension, and reasoning. By injecting action components into the VLMs, Vision-Language-Action Models (VLAs) can be naturally formed and also show promising performance. Existing work has demonstrated the effectiveness and generalization of VLAs in multiple scenarios and tasks. Nevertheless, the transfer from VLMs to VLAs is not trivial since existing VLAs differ in their backbones, action-prediction formulations, data distributions, and training recipes. This leads to a missing piece for a systematic understanding of the design choices of VLAs. In this work, we disclose the key factors that significantly influence the performance of VLA and focus on answering three essential design choices: which backbone to select, how to formulate the VLA architectures, and when to add cross-embodiment data. The obtained results convince us firmly to explain why we need VLA and develop a new family of VLAs, RoboVLMs, which require very few manual designs and achieve a new state-of-the-art performance in three simulation tasks and real-world experiments. Through our extensive experiments, which include over 8 VLM backbones, 4 policy architectures, and over 600 distinct designed experiments, we provide a detailed guidebook for the future design of VLAs. In addition to the study, the highly flexible RoboVLMs framework, which supports easy integrations of new VLMs and free combinations of various design choices, is made public to facilitate future research. We open-source all details, including codes, models, datasets, and toolkits, along with detailed training and evaluation recipes at: robovlms.github.io.

Robots operating alongside humans in diverse, stochastic environments must be able to accurately interpret natural language commands. These instructions often fall into one of two categories: those that specify a goal condition or target state, and those that specify explicit actions, or how to perform a given task. Recent approaches have used reward functions as a semantic representation of goal-based commands, which allows for the use of a state-of-the-art planner to find a policy for the given task. However, these reward functions cannot be directly used to represent action-oriented commands. We introduce a new hybrid approach, the Deep Recurrent Action-Goal Grounding Network (DRAGGN), for task grounding and execution that handles natural language from either category as input, and generalizes to unseen environments. Our robot-simulation results demonstrate that a system successfully interpreting both goal-oriented and action-oriented task specifications brings us closer to robust natural language understanding for human-robot interaction.

Large language model (LLM) leads to a surge of autonomous GUI agents for smartphone, which completes a task triggered by natural language through predicting a sequence of actions of API. Even though the task highly relies on past actions and visual observations, existing studies typical consider little semantic information carried out by intermediate screenshots and screen operations. To address this, this work presents Chain-of-Action-Thought (dubbed CoAT), which takes the description of the previous actions, the current screen, and more importantly the action thinking of what actions should be performed and the outcomes led by the chosen action. We demonstrate that, in a zero-shot setting upon an off-the-shell LLM, CoAT significantly improves the goal progress compared to standard context modeling. To further facilitate the research in this line, we construct a benchmark Android-In-The-Zoo (AitZ), which contains 18,643 screen-action pairs together with chain-of-action-thought annotations. Experiments show that fine-tuning a 200M model on our AitZ dataset achieves on par performance with CogAgent-Chat-18B.

We study the problem of procedure planning in instructional videos, which aims to make a goal-oriented sequence of action steps given partial visual state observations. The motivation of this problem is to learn a structured and plannable state and action space. Recent works succeeded in sequence modeling of steps with only sequence-level annotations accessible during training, which overlooked the roles of states in the procedures. In this work, we point out that State CHangEs MAtter (SCHEMA) for procedure planning in instructional videos. We aim to establish a more structured state space by investigating the causal relations between steps and states in procedures. Specifically, we explicitly represent each step as state changes and track the state changes in procedures. For step representation, we leveraged the commonsense knowledge in large language models (LLMs) to describe the state changes of steps via our designed chain-of-thought prompting. For state change tracking, we align visual state observations with language state descriptions via cross-modal contrastive learning, and explicitly model the intermediate states of the procedure using LLM-generated state descriptions. Experiments on CrossTask, COIN, and NIV benchmark datasets demonstrate that our proposed SCHEMA model achieves state-of-the-art performance and obtains explainable visualizations.

This article presents the Cogni-CISMeF project, which aims at improving medical information search in the CISMeF system (Catalog and Index of French-language health resources) by including a conversational agent to interact with the user in natural language. To study the cognitive processes involved during the information search, a bottom-up methodology was adopted. Experimentation has been set up to obtain human dialogs between a user (playing the role of patient) dealing with medical information search and a CISMeF expert refining the request. The analysis of these dialogs underlined the use of discursive evidence: vocabulary, reformulation, implicit or explicit expression of user intentions, conversational sequences, etc. A model of artificial agent is proposed. It leads the user in its information search by proposing to him examples, assistance and choices. This model was implemented and integrated in the CISMeF system. ---- Cet article d\'ecrit le projet Cogni-CISMeF qui propose un module de dialogue Homme-Machine \`a int\'egrer dans le syst\`eme d'indexation de connaissances m\'edicales CISMeF (Catalogue et Index des Sites M\'edicaux Francophones). Nous avons adopt\'e une d\'emarche de mod\'elisation cognitive en proc\'edant \`a un recueil de corpus de dialogues entre un utilisateur (jouant le r\^ole d'un patient) d\'esirant une information m\'edicale et un expert CISMeF af inant cette demande pour construire la requ\^ete. Nous avons analys\'e la structure des dialogues ainsi obtenus et avons \'etudi\'e un certain nombre d'indices discursifs : vocabulaire employ\'e, marques de reformulation, commentaires m\'eta et \'epilinguistiques, expression implicite ou explicite des intentions de l'utilisateur, encha\^inement conversationnel, etc. De cette analyse, nous avons construit un mod\`ele d'agent artificiel dot\'e de capacit\'es cognitives capables d'aider l'utilisateur dans sa t\^ache de recherche d'information. Ce mod\`ele a \'et\'e impl\'ement\'e et int\'egr\'e dans le syst\`eme CISMeF.

Humans can learn to operate the user interface (UI) of an application by reading an instruction manual or how-to guide. Along with text, these resources include visual content such as UI screenshots and images of application icons referenced in the text. We explore how to leverage this data to learn generic visio-linguistic representations of UI screens and their components. These representations are useful in many real applications, such as accessibility, voice navigation, and task automation. Prior UI representation models rely on UI metadata (UI trees and accessibility labels), which is often missing, incompletely defined, or not accessible. We avoid such a dependency, and propose Lexi, a pre-trained vision and language model designed to handle the unique features of UI screens, including their text richness and context sensitivity. To train Lexi we curate the UICaption dataset consisting of 114k UI images paired with descriptions of their functionality. We evaluate Lexi on four tasks: UI action entailment, instruction-based UI image retrieval, grounding referring expressions, and UI entity recognition.

For monitoring crises, political events are extracted from the news. The large amount of unstructured full-text event descriptions makes a case-by-case analysis unmanageable, particularly for low-resource humanitarian aid organizations. This creates a demand to classify events into event types, a task referred to as event coding. Typically, domain experts craft an event type ontology, annotators label a large dataset and technical experts develop a supervised coding system. In this work, we propose PR-ENT, a new event coding approach that is more flexible and resource-efficient, while maintaining competitive accuracy: first, we extend an event description such as "Military injured two civilians'' by a template, e.g. "People were [Z]" and prompt a pre-trained (cloze) language model to fill the slot Z. Second, we select answer candidates Z* = {"injured'', "hurt"...} by treating the event description as premise and the filled templates as hypothesis in a textual entailment task. This allows domain experts to draft the codebook directly as labeled prompts and interpretable answer candidates. This human-in-the-loop process is guided by our interactive codebook design tool. We evaluate PR-ENT in several robustness checks: perturbing the event description and prompt template, restricting the vocabulary and removing contextual information.

With advances in generative AI, there is increasing work towards creating autonomous agents that can manage daily tasks by operating user interfaces (UIs). While prior research has studied the mechanics of how AI agents might navigate UIs and understand UI structure, the effects of agents and their autonomous actions-particularly those that may be risky or irreversible-remain under-explored. In this work, we investigate the real-world impacts and consequences of UI actions by AI agents. We began by developing a taxonomy of the impacts of UI actions through a series of workshops with domain experts. Following this, we conducted a data synthesis study to gather realistic UI screen traces and action data that users perceive as impactful. We then used our impact categories to annotate our collected data and data repurposed from existing UI navigation datasets. Our quantitative evaluations of different large language models (LLMs) and variants demonstrate how well different LLMs can understand the impacts of UI actions that might be taken by an agent. We show that our taxonomy enhances the reasoning capabilities of these LLMs for understanding the impacts of UI actions, but our findings also reveal significant gaps in their ability to reliably classify more nuanced or complex categories of impact.

Existing LLM agent systems typically select actions from a fixed and predefined set at every step. While this approach is effective in closed, narrowly-scoped environments, we argue that it presents two major challenges when deploying LLM agents in real-world scenarios: (1) selecting from a fixed set of actions significantly restricts the planning and acting capabilities of LLM agents, and (2) this approach requires substantial human effort to enumerate and implement all possible actions, which becomes impractical in complex environments with a vast number of potential actions. In this work, we propose an LLM agent framework that enables the dynamic creation and composition of actions in an online manner. In this framework, the agent interacts with the environment by generating and executing programs written in a general-purpose programming language at each step. Furthermore, generated actions are accumulated over time for future reuse. Our extensive experiments on the GAIA benchmark demonstrate that this framework offers significantly greater flexibility and outperforms previous methods. Notably, it allows an LLM agent to recover in scenarios where no relevant action exists in the predefined set or when existing actions fail due to unforeseen edge cases. At the time of writing, we hold the top position on the GAIA public leaderboard. Our code can be found in https://github.com/adobe-research/dynasaur{https://github.com/adobe-research/dynasaur}.

Recent Multi-modal Large Language Models (MLLMs) have made great progress in video understanding. However, their performance on videos involving human actions is still limited by the lack of high-quality data. To address this, we introduce a two-stage data annotation pipeline. First, we design strategies to accumulate videos featuring clear human actions from the Internet. Second, videos are annotated in a standardized caption format that uses human attributes to distinguish individuals and chronologically details their actions and interactions. Through this pipeline, we curate two datasets, namely HAICTrain and HAICBench. HAICTrain comprises 126K video-caption pairs generated by Gemini-Pro and verified for training purposes. Meanwhile, HAICBench includes 500 manually annotated video-caption pairs and 1,400 QA pairs, for a comprehensive evaluation of human action understanding. Experimental results demonstrate that training with HAICTrain not only significantly enhances human understanding abilities across 4 benchmarks, but can also improve text-to-video generation results. Both the HAICTrain and HAICBench are released at https://huggingface.co./datasets/KuaishouHAIC/HAIC.

Can world knowledge learned by large language models (LLMs) be used to act in interactive environments? In this paper, we investigate the possibility of grounding high-level tasks, expressed in natural language (e.g. "make breakfast"), to a chosen set of actionable steps (e.g. "open fridge"). While prior work focused on learning from explicit step-by-step examples of how to act, we surprisingly find that if pre-trained LMs are large enough and prompted appropriately, they can effectively decompose high-level tasks into mid-level plans without any further training. However, the plans produced naively by LLMs often cannot map precisely to admissible actions. We propose a procedure that conditions on existing demonstrations and semantically translates the plans to admissible actions. Our evaluation in the recent VirtualHome environment shows that the resulting method substantially improves executability over the LLM baseline. The conducted human evaluation reveals a trade-off between executability and correctness but shows a promising sign towards extracting actionable knowledge from language models. Website at https://huangwl18.github.io/language-planner

We introduce WonderJourney, a modularized framework for perpetual 3D scene generation. Unlike prior work on view generation that focuses on a single type of scenes, we start at any user-provided location (by a text description or an image) and generate a journey through a long sequence of diverse yet coherently connected 3D scenes. We leverage an LLM to generate textual descriptions of the scenes in this journey, a text-driven point cloud generation pipeline to make a compelling and coherent sequence of 3D scenes, and a large VLM to verify the generated scenes. We show compelling, diverse visual results across various scene types and styles, forming imaginary "wonderjourneys". Project website: https://kovenyu.com/WonderJourney/

Pre-trained and frozen large language models (LLMs) can effectively map simple scene rearrangement instructions to programs over a robot's visuomotor functions through appropriate few-shot example prompting. To parse open-domain natural language and adapt to a user's idiosyncratic procedures, not known during prompt engineering time, fixed prompts fall short. In this paper, we introduce HELPER, an embodied agent equipped with an external memory of language-program pairs that parses free-form human-robot dialogue into action programs through retrieval-augmented LLM prompting: relevant memories are retrieved based on the current dialogue, instruction, correction, or VLM description, and used as in-context prompt examples for LLM querying. The memory is expanded during deployment to include pairs of user's language and action plans, to assist future inferences and personalize them to the user's language and routines. HELPER sets a new state-of-the-art in the TEACh benchmark in both Execution from Dialog History (EDH) and Trajectory from Dialogue (TfD), with a 1.7x improvement over the previous state-of-the-art for TfD. Our models, code, and video results can be found in our project's website: https://helper-agent-llm.github.io.

There are substantial instructional videos on the Internet, which provide us tutorials for completing various tasks. Existing instructional video datasets only focus on specific steps at the video level, lacking experiential guidelines at the task level, which can lead to beginners struggling to learn new tasks due to the lack of relevant experience. Moreover, the specific steps without guidelines are trivial and unsystematic, making it difficult to provide a clear tutorial. To address these problems, we present the GUIDE (Guideline-Guided) dataset, which contains 3.5K videos of 560 instructional tasks in 8 domains related to our daily life. Specifically, we annotate each instructional task with a guideline, representing a common pattern shared by all task-related videos. On this basis, we annotate systematic specific steps, including their associated guideline steps, specific step descriptions and timestamps. Our proposed benchmark consists of three sub-tasks to evaluate comprehension ability of models: (1) Step Captioning: models have to generate captions for specific steps from videos. (2) Guideline Summarization: models have to mine the common pattern in task-related videos and summarize a guideline from them. (3) Guideline-Guided Captioning: models have to generate captions for specific steps under the guide of guideline. We evaluate plenty of foundation models with GUIDE and perform in-depth analysis. Given the diversity and practicality of GUIDE, we believe that it can be used as a better benchmark for instructional video comprehension.

Agent-based modeling has been around for decades, and applied widely across the social and natural sciences. The scope of this research method is now poised to grow dramatically as it absorbs the new affordances provided by Large Language Models (LLM)s. Generative Agent-Based Models (GABM) are not just classic Agent-Based Models (ABM)s where the agents talk to one another. Rather, GABMs are constructed using an LLM to apply common sense to situations, act "reasonably", recall common semantic knowledge, produce API calls to control digital technologies like apps, and communicate both within the simulation and to researchers viewing it from the outside. Here we present Concordia, a library to facilitate constructing and working with GABMs. Concordia makes it easy to construct language-mediated simulations of physically- or digitally-grounded environments. Concordia agents produce their behavior using a flexible component system which mediates between two fundamental operations: LLM calls and associative memory retrieval. A special agent called the Game Master (GM), which was inspired by tabletop role-playing games, is responsible for simulating the environment where the agents interact. Agents take actions by describing what they want to do in natural language. The GM then translates their actions into appropriate implementations. In a simulated physical world, the GM checks the physical plausibility of agent actions and describes their effects. In digital environments simulating technologies such as apps and services, the GM may handle API calls to integrate with external tools such as general AI assistants (e.g., Bard, ChatGPT), and digital apps (e.g., Calendar, Email, Search, etc.). Concordia was designed to support a wide array of applications both in scientific research and for evaluating performance of real digital services by simulating users and/or generating synthetic data.

Computer-based assistants have recently attracted much interest due to its applicability to ambient assisted living. Such assistants have to detect and recognize the high-level activities and goals performed by the assisted human beings. In this work, we demonstrate activity recognition in an indoor environment in order to identify the goal towards which the subject of the video is pursuing. Our hybrid approach combines an action recognition module and a goal recognition algorithm to identify the ultimate goal of the subject in the video.

The recent phenomenal success of language models has reinvigorated machine learning research, and large sequence models such as transformers are being applied to a variety of domains. One important problem class that has remained relatively elusive however is purposeful adaptive behavior. Currently there is a common perception that sequence models "lack the understanding of the cause and effect of their actions" leading them to draw incorrect inferences due to auto-suggestive delusions. In this report we explain where this mismatch originates, and show that it can be resolved by treating actions as causal interventions. Finally, we show that in supervised learning, one can teach a system to condition or intervene on data by training with factual and counterfactual error signals respectively.

Descriptive video service (DVS) provides linguistic descriptions of movies and allows visually impaired people to follow a movie along with their peers. Such descriptions are by design mainly visual and thus naturally form an interesting data source for computer vision and computational linguistics. In this work we propose a novel dataset which contains transcribed DVS, which is temporally aligned to full length HD movies. In addition we also collected the aligned movie scripts which have been used in prior work and compare the two different sources of descriptions. In total the Movie Description dataset contains a parallel corpus of over 54,000 sentences and video snippets from 72 HD movies. We characterize the dataset by benchmarking different approaches for generating video descriptions. Comparing DVS to scripts, we find that DVS is far more visual and describes precisely what is shown rather than what should happen according to the scripts created prior to movie production.

Video recordings of user activities, particularly desktop recordings, offer a rich source of data for understanding user behaviors and automating processes. However, despite advancements in Vision-Language Models (VLMs) and their increasing use in video analysis, extracting user actions from desktop recordings remains an underexplored area. This paper addresses this gap by proposing two novel VLM-based methods for user action extraction: the Direct Frame-Based Approach (DF), which inputs sampled frames directly into VLMs, and the Differential Frame-Based Approach (DiffF), which incorporates explicit frame differences detected via computer vision techniques. We evaluate these methods using a basic self-curated dataset and an advanced benchmark adapted from prior work. Our results show that the DF approach achieves an accuracy of 70% to 80% in identifying user actions, with the extracted action sequences being re-playable though Robotic Process Automation. We find that while VLMs show potential, incorporating explicit UI changes can degrade performance, making the DF approach more reliable. This work represents the first application of VLMs for extracting user action sequences from desktop recordings, contributing new methods, benchmarks, and insights for future research.

Retrieving adverbs that describe an action in a video poses a crucial step towards fine-grained video understanding. We propose a framework for video-to-adverb retrieval (and vice versa) that aligns video embeddings with their matching compositional adverb-action text embedding in a joint embedding space. The compositional adverb-action text embedding is learned using a residual gating mechanism, along with a novel training objective consisting of triplet losses and a regression target. Our method achieves state-of-the-art performance on five recent benchmarks for video-adverb retrieval. Furthermore, we introduce dataset splits to benchmark video-adverb retrieval for unseen adverb-action compositions on subsets of the MSR-VTT Adverbs and ActivityNet Adverbs datasets. Our proposed framework outperforms all prior works for the generalisation task of retrieving adverbs from videos for unseen adverb-action compositions. Code and dataset splits are available at https://hummelth.github.io/ReGaDa/.

We consider the task of temporal human action localization in lifestyle vlogs. We introduce a novel dataset consisting of manual annotations of temporal localization for 13,000 narrated actions in 1,200 video clips. We present an extensive analysis of this data, which allows us to better understand how the language and visual modalities interact throughout the videos. We propose a simple yet effective method to localize the narrated actions based on their expected duration. Through several experiments and analyses, we show that our method brings complementary information with respect to previous methods, and leads to improvements over previous work for the task of temporal action localization.

Role-based learning holds the promise of achieving scalable multi-agent learning by decomposing complex tasks using roles. However, it is largely unclear how to efficiently discover such a set of roles. To solve this problem, we propose to first decompose joint action spaces into restricted role action spaces by clustering actions according to their effects on the environment and other agents. Learning a role selector based on action effects makes role discovery much easier because it forms a bi-level learning hierarchy -- the role selector searches in a smaller role space and at a lower temporal resolution, while role policies learn in significantly reduced primitive action-observation spaces. We further integrate information about action effects into the role policies to boost learning efficiency and policy generalization. By virtue of these advances, our method (1) outperforms the current state-of-the-art MARL algorithms on 10 of the 14 scenarios that comprise the challenging StarCraft II micromanagement benchmark and (2) achieves rapid transfer to new environments with three times the number of agents. Demonstrative videos are available at https://sites.google.com/view/rode-marl .

Most natural videos contain numerous events. For example, in a video of a "man playing a piano", the video might also contain "another man dancing" or "a crowd clapping". We introduce the task of dense-captioning events, which involves both detecting and describing events in a video. We propose a new model that is able to identify all events in a single pass of the video while simultaneously describing the detected events with natural language. Our model introduces a variant of an existing proposal module that is designed to capture both short as well as long events that span minutes. To capture the dependencies between the events in a video, our model introduces a new captioning module that uses contextual information from past and future events to jointly describe all events. We also introduce ActivityNet Captions, a large-scale benchmark for dense-captioning events. ActivityNet Captions contains 20k videos amounting to 849 video hours with 100k total descriptions, each with it's unique start and end time. Finally, we report performances of our model for dense-captioning events, video retrieval and localization.

TextDescriptives is a Python package for calculating a large variety of metrics from text. It is built on top of spaCy and can be easily integrated into existing workflows. The package has already been used for analysing the linguistic stability of clinical texts, creating features for predicting neuropsychiatric conditions, and analysing linguistic goals of primary school students. This paper describes the package and its features.

This study focuses on a novel task in text-to-image (T2I) generation, namely action customization. The objective of this task is to learn the co-existing action from limited data and generalize it to unseen humans or even animals. Experimental results show that existing subject-driven customization methods fail to learn the representative characteristics of actions and struggle in decoupling actions from context features, including appearance. To overcome the preference for low-level features and the entanglement of high-level features, we propose an inversion-based method Action-Disentangled Identifier (ADI) to learn action-specific identifiers from the exemplar images. ADI first expands the semantic conditioning space by introducing layer-wise identifier tokens, thereby increasing the representational richness while distributing the inversion across different features. Then, to block the inversion of action-agnostic features, ADI extracts the gradient invariance from the constructed sample triples and masks the updates of irrelevant channels. To comprehensively evaluate the task, we present an ActionBench that includes a variety of actions, each accompanied by meticulously selected samples. Both quantitative and qualitative results show that our ADI outperforms existing baselines in action-customized T2I generation. Our project page is at https://adi-t2i.github.io/ADI.

Foundation models have made significant strides in various applications, including text-to-image generation, panoptic segmentation, and natural language processing. This paper presents Instruct2Act, a framework that utilizes Large Language Models to map multi-modal instructions to sequential actions for robotic manipulation tasks. Specifically, Instruct2Act employs the LLM model to generate Python programs that constitute a comprehensive perception, planning, and action loop for robotic tasks. In the perception section, pre-defined APIs are used to access multiple foundation models where the Segment Anything Model (SAM) accurately locates candidate objects, and CLIP classifies them. In this way, the framework leverages the expertise of foundation models and robotic abilities to convert complex high-level instructions into precise policy codes. Our approach is adjustable and flexible in accommodating various instruction modalities and input types and catering to specific task demands. We validated the practicality and efficiency of our approach by assessing it on robotic tasks in different scenarios within tabletop manipulation domains. Furthermore, our zero-shot method outperformed many state-of-the-art learning-based policies in several tasks. The code for our proposed approach is available at https://github.com/OpenGVLab/Instruct2Act, serving as a robust benchmark for high-level robotic instruction tasks with assorted modality inputs.

This study compares the performance of AI-generated and human-written product descriptions using a multifaceted evaluation model. We analyze descriptions for 100 products generated by four AI models (Gemma 2B, LLAMA, GPT2, and ChatGPT 4) with and without sample descriptions, against human-written descriptions. Our evaluation metrics include sentiment, readability, persuasiveness, Search Engine Optimization(SEO), clarity, emotional appeal, and call-to-action effectiveness. The results indicate that ChatGPT 4 performs the best. In contrast, other models demonstrate significant shortcomings, producing incoherent and illogical output that lacks logical structure and contextual relevance. These models struggle to maintain focus on the product being described, resulting in disjointed sentences that do not convey meaningful information. This research provides insights into the current capabilities and limitations of AI in the creation of content for e-Commerce.

The abundance of instructional videos and their narrations over the Internet offers an exciting avenue for understanding procedural activities. In this work, we propose to learn video representation that encodes both action steps and their temporal ordering, based on a large-scale dataset of web instructional videos and their narrations, without using human annotations. Our method jointly learns a video representation to encode individual step concepts, and a deep probabilistic model to capture both temporal dependencies and immense individual variations in the step ordering. We empirically demonstrate that learning temporal ordering not only enables new capabilities for procedure reasoning, but also reinforces the recognition of individual steps. Our model significantly advances the state-of-the-art results on step classification (+2.8% / +3.3% on COIN / EPIC-Kitchens) and step forecasting (+7.4% on COIN). Moreover, our model attains promising results in zero-shot inference for step classification and forecasting, as well as in predicting diverse and plausible steps for incomplete procedures. Our code is available at https://github.com/facebookresearch/ProcedureVRL.

Large language models (LLMs) have demonstrated powerful decision-making and planning capabilities in solving complicated real-world problems. LLM-based autonomous agents can interact with diverse tools (e.g., functional APIs) and generate solution plans that execute a series of API function calls in a step-by-step manner. The multitude of candidate API function calls significantly expands the action space, amplifying the critical need for efficient action space navigation. However, existing methods either struggle with unidirectional exploration in expansive action spaces, trapped into a locally optimal solution, or suffer from exhaustively traversing all potential actions, causing inefficient navigation. To address these issues, we propose ToolChain*, an efficient tree search-based planning algorithm for LLM-based agents. It formulates the entire action space as a decision tree, where each node represents a possible API function call involved in a solution plan. By incorporating the A* search algorithm with task-specific cost function design, it efficiently prunes high-cost branches that may involve incorrect actions, identifying the most low-cost valid path as the solution. Extensive experiments on multiple tool-use and reasoning tasks demonstrate that ToolChain* efficiently balances exploration and exploitation within an expansive action space. It outperforms state-of-the-art baselines on planning and reasoning tasks by 3.1% and 3.5% on average while requiring 7.35x and 2.31x less time, respectively.

We describe the 2020 edition of the DeepMind Kinetics human action dataset, which replenishes and extends the Kinetics-700 dataset. In this new version, there are at least 700 video clips from different YouTube videos for each of the 700 classes. This paper details the changes introduced for this new release of the dataset and includes a comprehensive set of statistics as well as baseline results using the I3D network.

Recent work on deep reinforcement learning (DRL) has pointed out that algorithmic information about good policies can be extracted from offline data which lack explicit information about executed actions. For example, videos of humans or robots may convey a lot of implicit information about rewarding action sequences, but a DRL machine that wants to profit from watching such videos must first learn by itself to identify and recognize relevant states/actions/rewards. Without relying on ground-truth annotations, our new method called Deep State Identifier learns to predict returns from episodes encoded as videos. Then it uses a kind of mask-based sensitivity analysis to extract/identify important critical states. Extensive experiments showcase our method's potential for understanding and improving agent behavior. The source code and the generated datasets are available at https://github.com/AI-Initiative-KAUST/VideoRLCS.

Efficiently deriving structured workflows from unannotated dialogs remains an underexplored and formidable challenge in computational linguistics. Automating this process could significantly accelerate the manual design of workflows in new domains and enable the grounding of large language models in domain-specific flowcharts, enhancing transparency and controllability. In this paper, we introduce Dialog2Flow (D2F) embeddings, which differ from conventional sentence embeddings by mapping utterances to a latent space where they are grouped according to their communicative and informative functions (i.e., the actions they represent). D2F allows for modeling dialogs as continuous trajectories in a latent space with distinct action-related regions. By clustering D2F embeddings, the latent space is quantized, and dialogs can be converted into sequences of region/action IDs, facilitating the extraction of the underlying workflow. To pre-train D2F, we build a comprehensive dataset by unifying twenty task-oriented dialog datasets with normalized per-turn action annotations. We also introduce a novel soft contrastive loss that leverages the semantic information of these actions to guide the representation learning process, showing superior performance compared to standard supervised contrastive loss. Evaluation against various sentence embeddings, including dialog-specific ones, demonstrates that D2F yields superior qualitative and quantitative results across diverse domains.

This study delves into the realm of multi-modality (i.e., video and motion modalities) human behavior understanding by leveraging the powerful capabilities of Large Language Models (LLMs). Diverging from recent LLMs designed for video-only or motion-only understanding, we argue that understanding human behavior necessitates joint modeling from both videos and motion sequences (e.g., SMPL sequences) to capture nuanced body part dynamics and semantics effectively. In light of this, we present MotionLLM, a straightforward yet effective framework for human motion understanding, captioning, and reasoning. Specifically, MotionLLM adopts a unified video-motion training strategy that leverages the complementary advantages of existing coarse video-text data and fine-grained motion-text data to glean rich spatial-temporal insights. Furthermore, we collect a substantial dataset, MoVid, comprising diverse videos, motions, captions, and instructions. Additionally, we propose the MoVid-Bench, with carefully manual annotations, for better evaluation of human behavior understanding on video and motion. Extensive experiments show the superiority of MotionLLM in the caption, spatial-temporal comprehension, and reasoning ability.

In this technical report, we document the changes we made to SDXL in the process of training NovelAI Diffusion V3, our state of the art anime image generation model.

Planning in a text-based environment continues to be a major challenge for AI systems. Recent approaches have used language models to predict a planning domain definition (e.g., PDDL) but have only been evaluated in closed-domain simulated environments. To address this, we present Proc2PDDL , the first dataset containing open-domain procedural texts paired with expert-annotated PDDL representations. Using this dataset, we evaluate state-of-the-art models on defining the preconditions and effects of actions. We show that Proc2PDDL is highly challenging, with GPT-3.5's success rate close to 0% and GPT-4's around 35%. Our analysis shows both syntactic and semantic errors, indicating LMs' deficiency in both generating domain-specific prgorams and reasoning about events. We hope this analysis and dataset helps future progress towards integrating the best of LMs and formal planning.

Online Temporal Action Localization (On-TAL) is a critical task that aims to instantaneously identify action instances in untrimmed streaming videos as soon as an action concludes -- a major leap from frame-based Online Action Detection (OAD). Yet, the challenge of detecting overlapping actions is often overlooked even though it is a common scenario in streaming videos. Current methods that can address concurrent actions depend heavily on class information, limiting their flexibility. This paper introduces ActionSwitch, the first class-agnostic On-TAL framework capable of detecting overlapping actions. By obviating the reliance on class information, ActionSwitch provides wider applicability to various situations, including overlapping actions of the same class or scenarios where class information is unavailable. This approach is complemented by the proposed "conservativeness loss", which directly embeds a conservative decision-making principle into the loss function for On-TAL. Our ActionSwitch achieves state-of-the-art performance in complex datasets, including Epic-Kitchens 100 targeting the challenging egocentric view and FineAction consisting of fine-grained actions.

Short videos on platforms such as TikTok, Instagram Reels, and YouTube Shorts (i.e. short-form videos) have become a primary source of information and entertainment. Many short-form videos are inaccessible to blind and low vision (BLV) viewers due to their rapid visual changes, on-screen text, and music or meme-audio overlays. In our formative study, 7 BLV viewers who regularly watched short-form videos reported frequently skipping such inaccessible content. We present ShortScribe, a system that provides hierarchical visual summaries of short-form videos at three levels of detail to support BLV viewers in selecting and understanding short-form videos. ShortScribe allows BLV users to navigate between video descriptions based on their level of interest. To evaluate ShortScribe, we assessed description accuracy and conducted a user study with 10 BLV participants comparing ShortScribe to a baseline interface. When using ShortScribe, participants reported higher comprehension and provided more accurate summaries of video content.

Human action understanding is crucial for the advancement of multimodal systems. While recent developments, driven by powerful large language models (LLMs), aim to be general enough to cover a wide range of categories, they often overlook the need for more specific capabilities. In this work, we address the more challenging task of Fine-grained Action Recognition (FAR), which focuses on detailed semantic labels within shorter temporal duration (e.g., "salto backward tucked with 1 turn"). Given the high costs of annotating fine-grained labels and the substantial data needed for fine-tuning LLMs, we propose to adopt semi-supervised learning (SSL). Our framework, SeFAR, incorporates several innovative designs to tackle these challenges. Specifically, to capture sufficient visual details, we construct Dual-level temporal elements as more effective representations, based on which we design a new strong augmentation strategy for the Teacher-Student learning paradigm through involving moderate temporal perturbation. Furthermore, to handle the high uncertainty within the teacher model's predictions for FAR, we propose the Adaptive Regulation to stabilize the learning process. Experiments show that SeFAR achieves state-of-the-art performance on two FAR datasets, FineGym and FineDiving, across various data scopes. It also outperforms other semi-supervised methods on two classical coarse-grained datasets, UCF101 and HMDB51. Further analysis and ablation studies validate the effectiveness of our designs. Additionally, we show that the features extracted by our SeFAR could largely promote the ability of multimodal foundation models to understand fine-grained and domain-specific semantics.

Query understanding is a fundamental problem in information retrieval (IR), which has attracted continuous attention through the past decades. Many different tasks have been proposed for understanding users' search queries, e.g., query classification or query clustering. However, it is not that precise to understand a search query at the intent class/cluster level due to the loss of many detailed information. As we may find in many benchmark datasets, e.g., TREC and SemEval, queries are often associated with a detailed description provided by human annotators which clearly describes its intent to help evaluate the relevance of the documents. If a system could automatically generate a detailed and precise intent description for a search query, like human annotators, that would indicate much better query understanding has been achieved. In this paper, therefore, we propose a novel Query-to-Intent-Description (Q2ID) task for query understanding. Unlike those existing ranking tasks which leverage the query and its description to compute the relevance of documents, Q2ID is a reverse task which aims to generate a natural language intent description based on both relevant and irrelevant documents of a given query. To address this new task, we propose a novel Contrastive Generation model, namely CtrsGen for short, to generate the intent description by contrasting the relevant documents with the irrelevant documents given a query. We demonstrate the effectiveness of our model by comparing with several state-of-the-art generation models on the Q2ID task. We discuss the potential usage of such Q2ID technique through an example application.

We present the Claire French Dialogue Dataset (CFDD), a resource created by members of LINAGORA Labs in the context of the OpenLLM France initiative. CFDD is a corpus containing roughly 160 million words from transcripts and stage plays in French that we have assembled and publicly released in an effort to further the development of multilingual, open source language models. This paper describes the 24 individual corpora of which CFDD is composed and provides links and citations to their original sources. It also provides our proposed breakdown of the full CFDD dataset into eight categories of subcorpora and describes the process we followed to standardize the format of the final dataset. We conclude with a discussion of similar work and future directions.

Human body actions are an important form of non-verbal communication in social interactions. This paper focuses on a specific subset of body actions known as micro-actions, which are subtle, low-intensity body movements that provide a deeper understanding of inner human feelings. In real-world scenarios, human micro-actions often co-occur, with multiple micro-actions overlapping in time, such as simultaneous head and hand movements. However, current research primarily focuses on recognizing individual micro-actions while overlooking their co-occurring nature. To narrow this gap, we propose a new task named Multi-label Micro-Action Detection (MMAD), which involves identifying all micro-actions in a given short video, determining their start and end times, and categorizing them. Achieving this requires a model capable of accurately capturing both long-term and short-term action relationships to locate and classify multiple micro-actions. To support the MMAD task, we introduce a new dataset named Multi-label Micro-Action-52 (MMA-52), specifically designed to facilitate the detailed analysis and exploration of complex human micro-actions. The proposed MMA-52 dataset is available at: https://github.com/VUT-HFUT/Micro-Action.

Large language models (LLM) have demonstrated remarkable abilities in generating natural language, understanding user instruction, and mimicking human language use. These capabilities have garnered considerable interest in applications such as role-playing. However, the process of collecting individual role scripts (or profiles) data and manually evaluating the performance can be costly. We introduce a framework that uses prompts to leverage the state-of-the-art (SOTA) LLMs to construct role-playing dialogue datasets and evaluate the role-playing performance. Additionally, we employ recall-oriented evaluation Rouge-L metric to support the result of the LLM evaluator.

We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling non-experts to articulate task requirements to the system through a chat interface. Key features of the framework include: integration of ROS with an AI agent connected to a plethora of open-source and commercial LLMs, automatic extraction of a behavior from the LLM output and execution of ROS actions/services, support for three behavior modes (sequence, behavior tree, state machine), imitation learning for adding new robot actions to the library of possible actions, and LLM reflection via human and environment feedback. Extensive experiments validate the framework, showcasing robustness, scalability, and versatility in diverse scenarios, including long-horizon tasks, tabletop rearrangements, and remote supervisory control. To facilitate the adoption of our framework and support the reproduction of our results, we have made our code open-source. You can access it at: https://github.com/huawei-noah/HEBO/tree/master/ROSLLM.

We explore the use of language as a perceptual representation for vision-and-language navigation. Our approach uses off-the-shelf vision systems (for image captioning and object detection) to convert an agent's egocentric panoramic view at each time step into natural language descriptions. We then finetune a pretrained language model to select an action, based on the current view and the trajectory history, that would best fulfill the navigation instructions. In contrast to the standard setup which adapts a pretrained language model to work directly with continuous visual features from pretrained vision models, our approach instead uses (discrete) language as the perceptual representation. We explore two use cases of our language-based navigation (LangNav) approach on the R2R vision-and-language navigation benchmark: generating synthetic trajectories from a prompted large language model (GPT-4) with which to finetune a smaller language model; and sim-to-real transfer where we transfer a policy learned on a simulated environment (ALFRED) to a real-world environment (R2R). Our approach is found to improve upon strong baselines that rely on visual features in settings where only a few gold trajectories (10-100) are available, demonstrating the potential of using language as a perceptual representation for navigation tasks.

This work explores the capacity of large language models (LLMs) to address problems at the intersection of spatial planning and natural language interfaces for navigation.Our focus is on following relatively complex instructions that are more akin to natural conversation than traditional explicit procedural directives seen in robotics. Unlike most prior work, where navigation directives are provided as imperative commands (e.g., go to the fridge), we examine implicit directives within conversational interactions. We leverage the 3D simulator AI2Thor to create complex and repeatable scenarios at scale, and augment it by adding complex language queries for 40 object types. We demonstrate that a robot can better parse descriptive language queries than existing methods by using an LLM to interpret the user interaction in the context of a list of the objects in the scene.

A law practitioner has to go through numerous lengthy legal case proceedings for their practices of various categories, such as land dispute, corruption, etc. Hence, it is important to summarize these documents, and ensure that summaries contain phrases with intent matching the category of the case. To the best of our knowledge, there is no evaluation metric that evaluates a summary based on its intent. We propose an automated intent-based summarization metric, which shows a better agreement with human evaluation as compared to other automated metrics like BLEU, ROUGE-L etc. in terms of human satisfaction. We also curate a dataset by annotating intent phrases in legal documents, and show a proof of concept as to how this system can be automated. Additionally, all the code and data to generate reproducible results is available on Github.

Generating user intent from a sequence of user interface (UI) actions is a core challenge in comprehensive UI understanding. Recent advancements in multimodal large language models (MLLMs) have led to substantial progress in this area, but their demands for extensive model parameters, computing power, and high latency makes them impractical for scenarios requiring lightweight, on-device solutions with low latency or heightened privacy. Additionally, the lack of high-quality datasets has hindered the development of such lightweight models. To address these challenges, we propose UI-JEPA, a novel framework that employs masking strategies to learn abstract UI embeddings from unlabeled data through self-supervised learning, combined with an LLM decoder fine-tuned for user intent prediction. We also introduce two new UI-grounded multimodal datasets, "Intent in the Wild" (IIW) and "Intent in the Tame" (IIT), designed for few-shot and zero-shot UI understanding tasks. IIW consists of 1.7K videos across 219 intent categories, while IIT contains 914 videos across 10 categories. We establish the first baselines for these datasets, showing that representations learned using a JEPA-style objective, combined with an LLM decoder, can achieve user intent predictions that match the performance of state-of-the-art large MLLMs, but with significantly reduced annotation and deployment resources. Measured by intent similarity scores, UI-JEPA outperforms GPT-4 Turbo and Claude 3.5 Sonnet by 10.0% and 7.2% respectively, averaged across two datasets. Notably, UI-JEPA accomplishes the performance with a 50.5x reduction in computational cost and a 6.6x improvement in latency in the IIW dataset. These results underscore the effectiveness of UI-JEPA, highlighting its potential for lightweight, high-performance UI understanding.

Inspired by progress in large-scale language modeling, we apply a similar approach towards building a single generalist agent beyond the realm of text outputs. The agent, which we refer to as Gato, works as a multi-modal, multi-task, multi-embodiment generalist policy. The same network with the same weights can play Atari, caption images, chat, stack blocks with a real robot arm and much more, deciding based on its context whether to output text, joint torques, button presses, or other tokens. In this report we describe the model and the data, and document the current capabilities of Gato.

Recent advancements in large foundation models have remarkably enhanced our understanding of sensory information in open-world environments. In leveraging the power of foundation models, it is crucial for AI research to pivot away from excessive reductionism and toward an emphasis on systems that function as cohesive wholes. Specifically, we emphasize developing Agent AI -- an embodied system that integrates large foundation models into agent actions. The emerging field of Agent AI spans a wide range of existing embodied and agent-based multimodal interactions, including robotics, gaming, and healthcare systems, etc. In this paper, we propose a novel large action model to achieve embodied intelligent behavior, the Agent Foundation Model. On top of this idea, we discuss how agent AI exhibits remarkable capabilities across a variety of domains and tasks, challenging our understanding of learning and cognition. Furthermore, we discuss the potential of Agent AI from an interdisciplinary perspective, underscoring AI cognition and consciousness within scientific discourse. We believe that those discussions serve as a basis for future research directions and encourage broader societal engagement.

We present ALFRED (Action Learning From Realistic Environments and Directives), a benchmark for learning a mapping from natural language instructions and egocentric vision to sequences of actions for household tasks. ALFRED includes long, compositional tasks with non-reversible state changes to shrink the gap between research benchmarks and real-world applications. ALFRED consists of expert demonstrations in interactive visual environments for 25k natural language directives. These directives contain both high-level goals like "Rinse off a mug and place it in the coffee maker." and low-level language instructions like "Walk to the coffee maker on the right." ALFRED tasks are more complex in terms of sequence length, action space, and language than existing vision-and-language task datasets. We show that a baseline model based on recent embodied vision-and-language tasks performs poorly on ALFRED, suggesting that there is significant room for developing innovative grounded visual language understanding models with this benchmark.

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to perform this task in a particular environment. We propose to provide real-world grounding by means of pretrained skills, which are used to constrain the model to propose natural language actions that are both feasible and contextually appropriate. The robot can act as the language model's "hands and eyes," while the language model supplies high-level semantic knowledge about the task. We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment. We evaluate our method on a number of real-world robotic tasks, where we show the need for real-world grounding and that this approach is capable of completing long-horizon, abstract, natural language instructions on a mobile manipulator. The project's website and the video can be found at https://say-can.github.io/.

Compositional actions consist of dynamic (verbs) and static (objects) concepts. Humans can easily recognize unseen compositions using the learned concepts. For machines, solving such a problem requires a model to recognize unseen actions composed of previously observed verbs and objects, thus requiring so-called compositional generalization ability. To facilitate this research, we propose a novel Zero-Shot Compositional Action Recognition (ZS-CAR) task. For evaluating the task, we construct a new benchmark, Something-composition (Sth-com), based on the widely used Something-Something V2 dataset. We also propose a novel Component-to-Composition (C2C) learning method to solve the new ZS-CAR task. C2C includes an independent component learning module and a composition inference module. Last, we devise an enhanced training strategy to address the challenges of component variations between seen and unseen compositions and to handle the subtle balance between learning seen and unseen actions. The experimental results demonstrate that the proposed framework significantly surpasses the existing compositional generalization methods and sets a new state-of-the-art. The new Sth-com benchmark and code are available at https://github.com/RongchangLi/ZSCAR_C2C.

In the development of science, accurate and reproducible documentation of the experimental process is crucial. Automatic recognition of the actions in experiments from videos would help experimenters by complementing the recording of experiments. Towards this goal, we propose FineBio, a new fine-grained video dataset of people performing biological experiments. The dataset consists of multi-view videos of 32 participants performing mock biological experiments with a total duration of 14.5 hours. One experiment forms a hierarchical structure, where a protocol consists of several steps, each further decomposed into a set of atomic operations. The uniqueness of biological experiments is that while they require strict adherence to steps described in each protocol, there is freedom in the order of atomic operations. We provide hierarchical annotation on protocols, steps, atomic operations, object locations, and their manipulation states, providing new challenges for structured activity understanding and hand-object interaction recognition. To find out challenges on activity understanding in biological experiments, we introduce baseline models and results on four different tasks, including (i) step segmentation, (ii) atomic operation detection (iii) object detection, and (iv) manipulated/affected object detection. Dataset and code are available from https://github.com/aistairc/FineBio.

This paper introduces the Multi-Step Action Model (MSAM), a closed-source AI model designed by Empsing to address challenges hindering AI adoption in enterprises. Through a holistic examination, this paper explores MSAM's foundational principles, design architecture, and future trajectory. It evaluates MSAM's performance via rigorous testing methodologies and envisions its potential impact on advancing AI adoption within organizations.

Autonomy via agents using large language models (LLMs) for personalized, standardized tasks boosts human efficiency. Automating web tasks (like booking hotels within a budget) is increasingly sought after. Fulfilling practical needs, the web agent also serves as an important proof-of-concept example for various agent grounding scenarios, with its success promising advancements in many future applications. Prior research often handcrafts web agent strategies (e.g., prompting templates, multi-agent systems, search methods, etc.) and the corresponding in-context examples, which may not generalize well across all real-world scenarios. On the other hand, there has been limited study on the misalignment between a web agent's observation/action representation and the pre-training data of the LLM it's based on. This discrepancy is especially notable when LLMs are primarily trained for language completion rather than tasks involving embodied navigation actions and symbolic web elements. Our study enhances an LLM-based web agent by simply refining its observation and action space to better align with the LLM's capabilities. This approach enables our base agent to significantly outperform previous methods on a wide variety of web tasks. Specifically, on WebArena, a benchmark featuring general-purpose web interaction tasks, our agent AgentOccam surpasses the previous state-of-the-art and concurrent work by 9.8 (+29.4%) and 5.9 (+15.8%) absolute points respectively, and boosts the success rate by 26.6 points (+161%) over similar plain web agents with its observation and action space alignment. We achieve this without using in-context examples, new agent roles, online feedback or search strategies. AgentOccam's simple design highlights LLMs' impressive zero-shot performance on web tasks, and underlines the critical role of carefully tuning observation and action spaces for LLM-based agents.

Large language models (LLMs) have the potential to impact a wide range of creative domains, but the application of LLMs to animation is underexplored and presents novel challenges such as how users might effectively describe motion in natural language. In this paper, we present Keyframer, a design tool for animating static images (SVGs) with natural language. Informed by interviews with professional animation designers and engineers, Keyframer supports exploration and refinement of animations through the combination of prompting and direct editing of generated output. The system also enables users to request design variants, supporting comparison and ideation. Through a user study with 13 participants, we contribute a characterization of user prompting strategies, including a taxonomy of semantic prompt types for describing motion and a 'decomposed' prompting style where users continually adapt their goals in response to generated output.We share how direct editing along with prompting enables iteration beyond one-shot prompting interfaces common in generative tools today. Through this work, we propose how LLMs might empower a range of audiences to engage with animation creation.

Recent video-text foundation models have demonstrated strong performance on a wide variety of downstream video understanding tasks. Can these video-text models genuinely understand the contents of natural videos? Standard video-text evaluations could be misleading as many questions can be inferred merely from the objects and contexts in a single frame or biases inherent in the datasets. In this paper, we aim to better assess the capabilities of current video-text models and understand their limitations. We propose a novel evaluation task for video-text understanding, namely retrieval from counterfactually augmented data (RCAD), and a new Feint6K dataset. To succeed on our new evaluation task, models must derive a comprehensive understanding of the video from cross-frame reasoning. Analyses show that previous video-text foundation models can be easily fooled by counterfactually augmented data and are far behind human-level performance. In order to narrow the gap between video-text models and human performance on RCAD, we identify a key limitation of current contrastive approaches on video-text data and introduce LLM-teacher, a more effective approach to learn action semantics by leveraging knowledge obtained from a pretrained large language model. Experiments and analyses show that our approach successfully learn more discriminative action embeddings and improves results on Feint6K when applied to multiple video-text models. Our Feint6K dataset and project page is available at https://feint6k.github.io.

Movie screenplay summarization is challenging, as it requires an understanding of long input contexts and various elements unique to movies. Large language models have shown significant advancements in document summarization, but they often struggle with processing long input contexts. Furthermore, while television transcripts have received attention in recent studies, movie screenplay summarization remains underexplored. To stimulate research in this area, we present a new dataset, MovieSum, for abstractive summarization of movie screenplays. This dataset comprises 2200 movie screenplays accompanied by their Wikipedia plot summaries. We manually formatted the movie screenplays to represent their structural elements. Compared to existing datasets, MovieSum possesses several distinctive features: (1) It includes movie screenplays, which are longer than scripts of TV episodes. (2) It is twice the size of previous movie screenplay datasets. (3) It provides metadata with IMDb IDs to facilitate access to additional external knowledge. We also show the results of recently released large language models applied to summarization on our dataset to provide a detailed baseline.

World models have emerged as promising neural simulators for autonomous driving, with the potential to supplement scarce real-world data and enable closed-loop evaluations. However, current research primarily evaluates these models based on visual realism or downstream task performance, with limited focus on fidelity to specific action instructions - a crucial property for generating targeted simulation scenes. Although some studies address action fidelity, their evaluations rely on closed-source mechanisms, limiting reproducibility. To address this gap, we develop an open-access evaluation framework, ACT-Bench, for quantifying action fidelity, along with a baseline world model, Terra. Our benchmarking framework includes a large-scale dataset pairing short context videos from nuScenes with corresponding future trajectory data, which provides conditional input for generating future video frames and enables evaluation of action fidelity for executed motions. Furthermore, Terra is trained on multiple large-scale trajectory-annotated datasets to enhance action fidelity. Leveraging this framework, we demonstrate that the state-of-the-art model does not fully adhere to given instructions, while Terra achieves improved action fidelity. All components of our benchmark framework will be made publicly available to support future research.

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range of applications, from personal assistance to industrial robotics, emphasizing the importance of robots interacting flexibly, naturally and safely with humans. This paper presents an advanced architecture for robotic action planning that integrates communication, perception, and planning with Large Language Models (LLMs). Our system is designed to translate commands expressed in natural language into executable robot actions, incorporating environmental information and dynamically updating plans based on real-time feedback. The Planner Module is the core of the system where LLMs embedded in a modified ReAct framework are employed to interpret and carry out user commands. By leveraging their extensive pre-trained knowledge, LLMs can effectively process user requests without the need to introduce new knowledge on the changing environment. The modified ReAct framework further enhances the execution space by providing real-time environmental perception and the outcomes of physical actions. By combining robust and dynamic semantic map representations as graphs with control components and failure explanations, this architecture enhances a robot adaptability, task execution, and seamless collaboration with human users in shared and dynamic environments. Through the integration of continuous feedback loops with the environment the system can dynamically adjusts the plan to accommodate unexpected changes, optimizing the robot ability to perform tasks. Using a dataset of previous experience is possible to provide detailed feedback about the failure. Updating the LLMs context of the next iteration with suggestion on how to overcame the issue.

We give an overview of recent exciting achievements of deep reinforcement learning (RL). We discuss six core elements, six important mechanisms, and twelve applications. We start with background of machine learning, deep learning and reinforcement learning. Next we discuss core RL elements, including value function, in particular, Deep Q-Network (DQN), policy, reward, model, planning, and exploration. After that, we discuss important mechanisms for RL, including attention and memory, unsupervised learning, transfer learning, multi-agent RL, hierarchical RL, and learning to learn. Then we discuss various applications of RL, including games, in particular, AlphaGo, robotics, natural language processing, including dialogue systems, machine translation, and text generation, computer vision, neural architecture design, business management, finance, healthcare, Industry 4.0, smart grid, intelligent transportation systems, and computer systems. We mention topics not reviewed yet, and list a collection of RL resources. After presenting a brief summary, we close with discussions. Please see Deep Reinforcement Learning, arXiv:1810.06339, for a significant update.

We propose a new framework for understanding and representing related salient events in a video using visual semantic role labeling. We represent videos as a set of related events, wherein each event consists of a verb and multiple entities that fulfill various roles relevant to that event. To study the challenging task of semantic role labeling in videos or VidSRL, we introduce the VidSitu benchmark, a large-scale video understanding data source with 29K 10-second movie clips richly annotated with a verb and semantic-roles every 2 seconds. Entities are co-referenced across events within a movie clip and events are connected to each other via event-event relations. Clips in VidSitu are drawn from a large collection of movies ({sim}3K) and have been chosen to be both complex ({sim}4.2 unique verbs within a video) as well as diverse ({sim}200 verbs have more than 100 annotations each). We provide a comprehensive analysis of the dataset in comparison to other publicly available video understanding benchmarks, several illustrative baselines and evaluate a range of standard video recognition models. Our code and dataset is available at vidsitu.org.

We describe our early efforts to red team language models in order to simultaneously discover, measure, and attempt to reduce their potentially harmful outputs. We make three main contributions. First, we investigate scaling behaviors for red teaming across 3 model sizes (2.7B, 13B, and 52B parameters) and 4 model types: a plain language model (LM); an LM prompted to be helpful, honest, and harmless; an LM with rejection sampling; and a model trained to be helpful and harmless using reinforcement learning from human feedback (RLHF). We find that the RLHF models are increasingly difficult to red team as they scale, and we find a flat trend with scale for the other model types. Second, we release our dataset of 38,961 red team attacks for others to analyze and learn from. We provide our own analysis of the data and find a variety of harmful outputs, which range from offensive language to more subtly harmful non-violent unethical outputs. Third, we exhaustively describe our instructions, processes, statistical methodologies, and uncertainty about red teaming. We hope that this transparency accelerates our ability to work together as a community in order to develop shared norms, practices, and technical standards for how to red team language models.

Recently, text-to-motion models have opened new possibilities for creating realistic human motion with greater efficiency and flexibility. However, aligning motion generation with event-level textual descriptions presents unique challenges due to the complex relationship between textual prompts and desired motion outcomes. To address this, we introduce AToM, a framework that enhances the alignment between generated motion and text prompts by leveraging reward from GPT-4Vision. AToM comprises three main stages: Firstly, we construct a dataset MotionPrefer that pairs three types of event-level textual prompts with generated motions, which cover the integrity, temporal relationship and frequency of motion. Secondly, we design a paradigm that utilizes GPT-4Vision for detailed motion annotation, including visual data formatting, task-specific instructions and scoring rules for each sub-task. Finally, we fine-tune an existing text-to-motion model using reinforcement learning guided by this paradigm. Experimental results demonstrate that AToM significantly improves the event-level alignment quality of text-to-motion generation.

AI agents are systems capable of perceiving their environment, autonomously planning and executing tasks. Recent advancements in LLM have introduced a transformative paradigm for AI agents, enabling them to interact with external resources and tools through prompts. In such agents, the workflow integrates developer-written code, which manages framework construction and logic control, with LLM-generated natural language that enhances dynamic decision-making and interaction. However, discrepancies between developer-implemented logic and the dynamically generated content of LLMs in terms of behavior and expected outcomes can lead to defects, such as tool invocation failures and task execution errors. These issues introduce specific risks, leading to various defects in LLM-based AI Agents, such as service interruptions. Despite the importance of these issues, there is a lack of systematic work that focuses on analyzing LLM-based AI Agents to uncover defects in their code. In this paper, we present the first study focused on identifying and detecting defects in LLM Agents. We collected and analyzed 6,854 relevant posts from StackOverflow to define 8 types of agent defects. For each type, we provided detailed descriptions with an example. Then, we designed a static analysis tool, named Agentable, to detect the defects. Agentable leverages Code Property Graphs and LLMs to analyze Agent workflows by efficiently identifying specific code patterns and analyzing natural language descriptions. To evaluate Agentable, we constructed two datasets: AgentSet, consists of 84 real-world Agents, and AgentTest, which contains 78 Agents specifically designed to include various types of defects. Our results show that Agentable achieved an overall accuracy of 88.79% and a recall rate of 91.03%. Furthermore, our analysis reveals the 889 defects of the AgentSet, highlighting the prevalence of these defects.

We report the development of Alter3, a humanoid robot capable of generating spontaneous motion using a Large Language Model (LLM), specifically GPT-4. This achievement was realized by integrating GPT-4 into our proprietary android, Alter3, thereby effectively grounding the LLM with Alter's bodily movement. Typically, low-level robot control is hardware-dependent and falls outside the scope of LLM corpora, presenting challenges for direct LLM-based robot control. However, in the case of humanoid robots like Alter3, direct control is feasible by mapping the linguistic expressions of human actions onto the robot's body through program code. Remarkably, this approach enables Alter3 to adopt various poses, such as a 'selfie' stance or 'pretending to be a ghost,' and generate sequences of actions over time without explicit programming for each body part. This demonstrates the robot's zero-shot learning capabilities. Additionally, verbal feedback can adjust poses, obviating the need for fine-tuning. A video of Alter3's generated motions is available at https://tnoinkwms.github.io/ALTER-LLM/

Large Language Model (LLM) Agents have recently garnered increasing interest yet they are limited in their ability to learn from trial and error, a key element of intelligent behavior. In this work, we argue that the capacity to learn new actions from experience is fundamental to the advancement of learning in LLM agents. While humans naturally expand their action spaces and develop skills through experiential learning, LLM agents typically operate within fixed action spaces, limiting their potential for growth. To address these challenges, our study explores open-action learning for language agents. We introduce a framework LearnAct with an iterative learning strategy to create and improve actions in the form of Python functions. In each iteration, LLM revises and updates the currently available actions based on the errors identified in unsuccessful training tasks, thereby enhancing action effectiveness. Our experimental evaluations across Robotic Planning and Alfworld environments reveal that after learning on a few training task instances, our approach to open-action learning markedly improves agent performance for the type of task (by 32 percent in AlfWorld compared to ReAct+Reflexion, for instance) highlighting the importance of experiential action learning in the development of more intelligent LLM agents.

The Italian Digital Media Observatory (IDMO) project, part of a European initiative, focuses on countering disinformation and fake news. This report outlines contributions from Rai-CRITS to the project, including: (i) the creation of novel datasets for testing technologies (ii) development of an automatic model for categorizing Pagella Politica verdicts to facilitate broader analysis (iii) creation of an automatic model for recognizing textual entailment with exceptional accuracy on the FEVER dataset (iv) assessment using GPT-4 to identify textual entailmen (v) a game to raise awareness about fake news at national events.

We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an extensive survey on "what do you want robots to do for you?". The first is the definition of 1,000 everyday activities, grounded in 50 scenes (houses, gardens, restaurants, offices, etc.) with more than 9,000 objects annotated with rich physical and semantic properties. The second is OMNIGIBSON, a novel simulation environment that supports these activities via realistic physics simulation and rendering of rigid bodies, deformable bodies, and liquids. Our experiments indicate that the activities in BEHAVIOR-1K are long-horizon and dependent on complex manipulation skills, both of which remain a challenge for even state-of-the-art robot learning solutions. To calibrate the simulation-to-reality gap of BEHAVIOR-1K, we provide an initial study on transferring solutions learned with a mobile manipulator in a simulated apartment to its real-world counterpart. We hope that BEHAVIOR-1K's human-grounded nature, diversity, and realism make it valuable for embodied AI and robot learning research. Project website: https://behavior.stanford.edu.

Vision-language models (VLMs), which process image and text inputs, are increasingly integrated into chat assistants and other consumer AI applications. Without proper safeguards, however, VLMs may give harmful advice (e.g. how to self-harm) or encourage unsafe behaviours (e.g. to consume drugs). Despite these clear hazards, little work so far has evaluated VLM safety and the novel risks created by multimodal inputs. To address this gap, we introduce MSTS, a Multimodal Safety Test Suite for VLMs. MSTS comprises 400 test prompts across 40 fine-grained hazard categories. Each test prompt consists of a text and an image that only in combination reveal their full unsafe meaning. With MSTS, we find clear safety issues in several open VLMs. We also find some VLMs to be safe by accident, meaning that they are safe because they fail to understand even simple test prompts. We translate MSTS into ten languages, showing non-English prompts to increase the rate of unsafe model responses. We also show models to be safer when tested with text only rather than multimodal prompts. Finally, we explore the automation of VLM safety assessments, finding even the best safety classifiers to be lacking.

As the complexity of robot systems increases, it becomes more effective to simulate them before deployment. To do this, a model of the robot's kinematics or dynamics is required, and the most commonly used format is the Unified Robot Description Format (URDF). This article presents, to our knowledge, the first dataset of URDF files from various industrial and research organizations, with metadata describing each robot, its type, manufacturer, and the source of the model. The dataset contains 322 URDF files of which 195 are unique robot models, meaning the excess URDFs are either of a robot that is multiply defined across sources or URDF variants of the same robot. We analyze the files in the dataset, where we, among other things, provide information on how they were generated, which mesh file types are most commonly used, and compare models of multiply defined robots. The intention of this article is to build a foundation of knowledge on URDF and how it is used based on publicly available URDF files. Publishing the dataset, analysis, and the scripts and tools used enables others using, researching or developing URDFs to easily access this data and use it in their own work.

We propose and address a new generalisation problem: can a model trained for action recognition successfully classify actions when they are performed within a previously unseen scenario and in a previously unseen location? To answer this question, we introduce the Action Recognition Generalisation Over scenarios and locations dataset (ARGO1M), which contains 1.1M video clips from the large-scale Ego4D dataset, across 10 scenarios and 13 locations. We demonstrate recognition models struggle to generalise over 10 proposed test splits, each of an unseen scenario in an unseen location. We thus propose CIR, a method to represent each video as a Cross-Instance Reconstruction of videos from other domains. Reconstructions are paired with text narrations to guide the learning of a domain generalisable representation. We provide extensive analysis and ablations on ARGO1M that show CIR outperforms prior domain generalisation works on all test splits. Code and data: https://chiaraplizz.github.io/what-can-a-cook/.

This paper presents teaching materials, particularly assignments and ideas for classroom activities, from a new course on large language models (LLMs) taught at Charles University. The assignments include experiments with LLM inference for weather report generation and machine translation. The classroom activities include class quizzes, focused research on downstream tasks and datasets, and an interactive "best paper" session aimed at reading and comprehension of research papers.

Large language models (LLMs) are capable of generating multiple responses to a single prompt, yet little effort has been expended to help end-users or system designers make use of this capability. In this paper, we explore how to present many LLM responses at once. We design five features, which include both pre-existing and novel methods for computing similarities and differences across textual documents, as well as how to render their outputs. We report on a controlled user study (n=24) and eight case studies evaluating these features and how they support users in different tasks. We find that the features support a wide variety of sensemaking tasks and even make tasks previously considered to be too difficult by our participants now tractable. Finally, we present design guidelines to inform future explorations of new LLM interfaces.

Human motion is created by, and constrained by, our muscles. We take a first step at building computer vision methods that represent the internal muscle activity that causes motion. We present a new dataset, Muscles in Action (MIA), to learn to incorporate muscle activity into human motion representations. The dataset consists of 12.5 hours of synchronized video and surface electromyography (sEMG) data of 10 subjects performing various exercises. Using this dataset, we learn a bidirectional representation that predicts muscle activation from video, and conversely, reconstructs motion from muscle activation. We evaluate our model on in-distribution subjects and exercises, as well as on out-of-distribution subjects and exercises. We demonstrate how advances in modeling both modalities jointly can serve as conditioning for muscularly consistent motion generation. Putting muscles into computer vision systems will enable richer models of virtual humans, with applications in sports, fitness, and AR/VR.

Existing large pre-trained models typically map text input to text output in an end-to-end manner, such as ChatGPT, or map a segment of text input to a hierarchy of action decisions, such as OpenVLA. However, humans can simultaneously generate text and actions when receiving specific input signals. For example, a driver can make precise driving decisions while conversing with a friend in the passenger seat. Motivated by this observation, we consider the following question in this work: is it possible to construct a pre-trained model that can provide both language interaction and precise decision-making capabilities in dynamic open scenarios. We provide a definitive answer to this question by developing a new model architecture termed Visual Language Action model for Chatting and Decision Making (VLA4CD), and further demonstrating its performance in challenging autonomous driving tasks. Specifically, we leverage LoRA to fine-tune a pre-trained LLM with data of multiple modalities covering language, visual, and action. Unlike the existing LoRA operations used for LLM fine-tuning, we have designed new computational modules and training cost functions for VLA4CD. These designs enable VLA4CD to provide continuous-valued action decisions while outputting text responses. In contrast, existing LLMs can only output text responses, and current VLA models can only output action decisions. Moreover, these VLA models handle action data by discretizing and then tokenizing the discretized actions, a method unsuitable for complex decision-making tasks involving high-dimensional continuous-valued action vectors, such as autonomous driving. The experimental results on CARLA validate that: (1) our proposed model construction method is effective; (2) compared to the SOTA VLA model, VLA4CD can provide more accurate real-time decision-making while retaining the text interaction capability inherent to LLMs.

We propose a new shared task for tactical data-to-text generation in the domain of source code libraries. Specifically, we focus on text generation of function descriptions from example software projects. Data is drawn from existing resources used for studying the related problem of semantic parser induction (Richardson and Kuhn, 2017b; Richardson and Kuhn, 2017a), and spans a wide variety of both natural languages and programming languages. In this paper, we describe these existing resources, which will serve as training and development data for the task, and discuss plans for building new independent test sets.

Recent advancements in Large Vision Language Models (LVLMs) have enabled the development of LVLM-based Graphical User Interface (GUI) agents under various paradigms. Training-based approaches, such as CogAgent and SeeClick, struggle with cross-dataset and cross-platform generalization due to their reliance on dataset-specific training. Generalist LVLMs, such as GPT-4V, employ Set-of-Marks (SoM) for action grounding, but obtaining SoM labels requires metadata like HTML source, which is not consistently available across platforms. Moreover, existing methods often specialize in singular GUI tasks rather than achieving comprehensive GUI understanding. To address these limitations, we introduce TRISHUL, a novel, training-free agentic framework that enhances generalist LVLMs for holistic GUI comprehension. Unlike prior works that focus on either action grounding (mapping instructions to GUI elements) or GUI referring (describing GUI elements given a location), TRISHUL seamlessly integrates both. At its core, TRISHUL employs Hierarchical Screen Parsing (HSP) and the Spatially Enhanced Element Description (SEED) module, which work synergistically to provide multi-granular, spatially, and semantically enriched representations of GUI elements. Our results demonstrate TRISHUL's superior performance in action grounding across the ScreenSpot, VisualWebBench, AITW, and Mind2Web datasets. Additionally, for GUI referring, TRISHUL surpasses the ToL agent on the ScreenPR benchmark, setting a new standard for robust and adaptable GUI comprehension.

We present a corpus of 5,000 richly annotated abstracts of medical articles describing clinical randomized controlled trials. Annotations include demarcations of text spans that describe the Patient population enrolled, the Interventions studied and to what they were Compared, and the Outcomes measured (the `PICO' elements). These spans are further annotated at a more granular level, e.g., individual interventions within them are marked and mapped onto a structured medical vocabulary. We acquired annotations from a diverse set of workers with varying levels of expertise and cost. We describe our data collection process and the corpus itself in detail. We then outline a set of challenging NLP tasks that would aid searching of the medical literature and the practice of evidence-based medicine.

We present BlenderBot 3, a 175B parameter dialogue model capable of open-domain conversation with access to the internet and a long-term memory, and having been trained on a large number of user defined tasks. We release both the model weights and code, and have also deployed the model on a public web page to interact with organic users. This technical report describes how the model was built (architecture, model and training scheme), and details of its deployment, including safety mechanisms. Human evaluations show its superiority to existing open-domain dialogue agents, including its predecessors (Roller et al., 2021; Komeili et al., 2022). Finally, we detail our plan for continual learning using the data collected from deployment, which will also be publicly released. The goal of this research program is thus to enable the community to study ever-improving responsible agents that learn through interaction.

In classic instruction following, language like "I'd like the JetBlue flight" maps to actions (e.g., selecting that flight). However, language also conveys information about a user's underlying reward function (e.g., a general preference for JetBlue), which can allow a model to carry out desirable actions in new contexts. We present a model that infers rewards from language pragmatically: reasoning about how speakers choose utterances not only to elicit desired actions, but also to reveal information about their preferences. On a new interactive flight-booking task with natural language, our model more accurately infers rewards and predicts optimal actions in unseen environments, in comparison to past work that first maps language to actions (instruction following) and then maps actions to rewards (inverse reinforcement learning).

Assessing action quality is both imperative and challenging due to its significant impact on the quality of AI-generated videos, further complicated by the inherently ambiguous nature of actions within AI-generated video (AIGV). Current action quality assessment (AQA) algorithms predominantly focus on actions from real specific scenarios and are pre-trained with normative action features, thus rendering them inapplicable in AIGVs. To address these problems, we construct GAIA, a Generic AI-generated Action dataset, by conducting a large-scale subjective evaluation from a novel causal reasoning-based perspective, resulting in 971,244 ratings among 9,180 video-action pairs. Based on GAIA, we evaluate a suite of popular text-to-video (T2V) models on their ability to generate visually rational actions, revealing their pros and cons on different categories of actions. We also extend GAIA as a testbed to benchmark the AQA capacity of existing automatic evaluation methods. Results show that traditional AQA methods, action-related metrics in recent T2V benchmarks, and mainstream video quality methods perform poorly with an average SRCC of 0.454, 0.191, and 0.519, respectively, indicating a sizable gap between current models and human action perception patterns in AIGVs. Our findings underscore the significance of action quality as a unique perspective for studying AIGVs and can catalyze progress towards methods with enhanced capacities for AQA in AIGVs.

This paper describes gaps in acquisition of drone imagery that impair the use with computer vision/machine learning (CV/ML) models and makes five recommendations to maximize image suitability for CV/ML post-processing. It describes a notional work process for the use of drones in wilderness search and rescue incidents. The large volume of data from the wide area search phase offers the greatest opportunity for CV/ML techniques because of the large number of images that would otherwise have to be manually inspected. The 2023 Wu-Murad search in Japan, one of the largest missing person searches conducted in that area, serves as a case study. Although drone teams conducting wide area searches may not know in advance if the data they collect is going to be used for CV/ML post-processing, there are data collection procedures that can improve the search in general with automated collection software. If the drone teams do expect to use CV/ML, then they can exploit knowledge about the model to further optimize flights.

Vision Language Models (VLMs) have received significant attention in recent years in the robotics community. VLMs are shown to be able to perform complex visual reasoning and scene understanding tasks, which makes them regarded as a potential universal solution for general robotics problems such as manipulation and navigation. However, previous VLMs for robotics such as RT-1, RT-2, and ManipLLM have focused on directly learning robot-centric actions. Such approaches require collecting a significant amount of robot interaction data, which is extremely costly in the real world. Thus, we propose A3VLM, an object-centric, actionable, articulation-aware vision language model. A3VLM focuses on the articulation structure and action affordances of objects. Its representation is robot-agnostic and can be translated into robot actions using simple action primitives. Extensive experiments in both simulation benchmarks and real-world settings demonstrate the effectiveness and stability of A3VLM. We release our code and other materials at https://github.com/changhaonan/A3VLM.

The advancement of large Vision-Language-Action (VLA) models has significantly improved robotic manipulation in terms of language-guided task execution and generalization to unseen scenarios. While existing VLAs adapted from pretrained large Vision-Language-Models (VLM) have demonstrated promising generalizability, their task performance is still unsatisfactory as indicated by the low tasks success rates in different environments. In this paper, we present a new advanced VLA architecture derived from VLM. Unlike previous works that directly repurpose VLM for action prediction by simple action quantization, we propose a omponentized VLA architecture that has a specialized action module conditioned on VLM output. We systematically study the design of the action module and demonstrates the strong performance enhancement with diffusion action transformers for action sequence modeling, as well as their favorable scaling behaviors. We also conduct comprehensive experiments and ablation studies to evaluate the efficacy of our models with varied designs. The evaluation on 5 robot embodiments in simulation and real work shows that our model not only significantly surpasses existing VLAs in task performance and but also exhibits remarkable adaptation to new robots and generalization to unseen objects and backgrounds. It exceeds the average success rates of OpenVLA which has similar model size (7B) with ours by over 35% in simulated evaluation and 55% in real robot experiments. It also outperforms the large RT-2-X model (55B) by 18% absolute success rates in simulation. Code and models can be found on our project page (https://cogact.github.io/).

Prompt design and engineering has become an important discipline in just the past few months. In this paper, we provide an introduction to the main concepts and design approaches. We also provide more advanced techniques all the way to those needed to design LLM-based agents. We finish by providing a list of existing tools for prompt engineering.

In recent years, there has been a trend in the field of Reinforcement Learning (RL) towards large action models trained offline on large-scale datasets via sequence modeling. Existing models are primarily based on the Transformer architecture, which result in powerful agents. However, due to slow inference times, Transformer-based approaches are impractical for real-time applications, such as robotics. Recently, modern recurrent architectures, such as xLSTM and Mamba, have been proposed that exhibit parallelization benefits during training similar to the Transformer architecture while offering fast inference. In this work, we study the aptitude of these modern recurrent architectures for large action models. Consequently, we propose a Large Recurrent Action Model (LRAM) with an xLSTM at its core that comes with linear-time inference complexity and natural sequence length extrapolation abilities. Experiments on 432 tasks from 6 domains show that LRAM compares favorably to Transformers in terms of performance and speed.

We have reached a practical and realistic phase in human-support dialogue agents by developing a large language model (LLM). However, when requiring expert knowledge or anticipating the utterance content using the massive size of the dialogue database, we still need help with the utterance content's effectiveness and the efficiency of its output speed, even if using LLM. Therefore, we propose a framework that uses LLM asynchronously in the part of the system that returns an appropriate response and in the part that understands the user's intention and searches the database. In particular, noting that it takes time for the robot to speak, threading related to database searches is performed while the robot is speaking.

We present CharacterChat, a concept and chatbot to support writers in creating fictional characters. Concretely, writers progressively turn the bot into their imagined character through conversation. We iteratively developed CharacterChat in a user-centred approach, starting with a survey on character creation with writers (N=30), followed by two qualitative user studies (N=7 and N=8). Our prototype combines two modes: (1) Guided prompts help writers define character attributes (e.g. User: "Your name is Jane."), including suggestions for attributes (e.g. Bot: "What is my main motivation?") and values, realised as a rule-based system with a concept network. (2) Open conversation with the chatbot helps writers explore their character and get inspiration, realised with a language model that takes into account the defined character attributes. Our user studies reveal benefits particularly for early stages of character creation, and challenges due to limited conversational capabilities. We conclude with lessons learned and ideas for future work.

Temporal action localization (TAL), which involves recognizing and locating action instances, is a challenging task in video understanding. Most existing approaches directly predict action classes and regress offsets to boundaries, while overlooking the discrepant importance of each frame. In this paper, we propose an Action Sensitivity Learning framework (ASL) to tackle this task, which aims to assess the value of each frame and then leverage the generated action sensitivity to recalibrate the training procedure. We first introduce a lightweight Action Sensitivity Evaluator to learn the action sensitivity at the class level and instance level, respectively. The outputs of the two branches are combined to reweight the gradient of the two sub-tasks. Moreover, based on the action sensitivity of each frame, we design an Action Sensitive Contrastive Loss to enhance features, where the action-aware frames are sampled as positive pairs to push away the action-irrelevant frames. The extensive studies on various action localization benchmarks (i.e., MultiThumos, Charades, Ego4D-Moment Queries v1.0, Epic-Kitchens 100, Thumos14 and ActivityNet1.3) show that ASL surpasses the state-of-the-art in terms of average-mAP under multiple types of scenarios, e.g., single-labeled, densely-labeled and egocentric.

Cloth folding is a complex task due to the inevitable self-occlusions of clothes, their complicated dynamics, and the disparate materials, geometries, and textures that garments can have. In this work, we learn folding actions conditioned on text commands. Translating high-level, abstract instructions into precise robotic actions requires sophisticated language understanding and manipulation capabilities. To do that, we leverage a pre-trained vision-language model and repurpose it to predict manipulation actions. Our model, BiFold, can take context into account and achieves state-of-the-art performance on an existing language-conditioned folding benchmark. Given the lack of annotated bimanual folding data, we devise a procedure to automatically parse actions of a simulated dataset and tag them with aligned text instructions. BiFold attains the best performance on our dataset and can transfer to new instructions, garments, and environments.

This is a report on the NSF Future Directions Workshop on Automatic Evaluation of Dialog. The workshop explored the current state of the art along with its limitations and suggested promising directions for future work in this important and very rapidly changing area of research.

This paper describes pi2vec, a method for representing behaviors of black box policies as feature vectors. The policy representations capture how the statistics of foundation model features change in response to the policy behavior in a task agnostic way, and can be trained from offline data, allowing them to be used in offline policy selection. This work provides a key piece of a recipe for fusing together three modern lines of research: Offline policy evaluation as a counterpart to offline RL, foundation models as generic and powerful state representations, and efficient policy selection in resource constrained environments.

Human beings possess the capability to multiply a melange of multisensory cues while actively exploring and interacting with the 3D world. Current multi-modal large language models, however, passively absorb sensory data as inputs, lacking the capacity to actively interact with the objects in the 3D environment and dynamically collect their multisensory information. To usher in the study of this area, we propose MultiPLY, a multisensory embodied large language model that could incorporate multisensory interactive data, including visual, audio, tactile, and thermal information into large language models, thereby establishing the correlation among words, actions, and percepts. To this end, we first collect Multisensory Universe, a large-scale multisensory interaction dataset comprising 500k data by deploying an LLM-powered embodied agent to engage with the 3D environment. To perform instruction tuning with pre-trained LLM on such generated data, we first encode the 3D scene as abstracted object-centric representations and then introduce action tokens denoting that the embodied agent takes certain actions within the environment, as well as state tokens that represent the multisensory state observations of the agent at each time step. In the inference time, MultiPLY could generate action tokens, instructing the agent to take the action in the environment and obtain the next multisensory state observation. The observation is then appended back to the LLM via state tokens to generate subsequent text or action tokens. We demonstrate that MultiPLY outperforms baselines by a large margin through a diverse set of embodied tasks involving object retrieval, tool use, multisensory captioning, and task decomposition.

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action, neglecting the vast dynamics of the world and the relations between actions and dynamics. In contrast, human beings are endowed with world models that depict imagination about future scenarios to plan actions accordingly. To this end, we propose 3D-VLA by introducing a new family of embodied foundation models that seamlessly link 3D perception, reasoning, and action through a generative world model. Specifically, 3D-VLA is built on top of a 3D-based large language model (LLM), and a set of interaction tokens is introduced to engage with the embodied environment. Furthermore, to inject generation abilities into the model, we train a series of embodied diffusion models and align them into the LLM for predicting the goal images and point clouds. To train our 3D-VLA, we curate a large-scale 3D embodied instruction dataset by extracting vast 3D-related information from existing robotics datasets. Our experiments on held-in datasets demonstrate that 3D-VLA significantly improves the reasoning, multimodal generation, and planning capabilities in embodied environments, showcasing its potential in real-world applications.

We propose an agent architecture that automates parts of the common reinforcement learning experiment workflow, to enable automated mastery of control domains for embodied agents. To do so, it leverages a VLM to perform some of the capabilities normally required of a human experimenter, including the monitoring and analysis of experiment progress, the proposition of new tasks based on past successes and failures of the agent, decomposing tasks into a sequence of subtasks (skills), and retrieval of the skill to execute - enabling our system to build automated curricula for learning. We believe this is one of the first proposals for a system that leverages a VLM throughout the full experiment cycle of reinforcement learning. We provide a first prototype of this system, and examine the feasibility of current models and techniques for the desired level of automation. For this, we use a standard Gemini model, without additional fine-tuning, to provide a curriculum of skills to a language-conditioned Actor-Critic algorithm, in order to steer data collection so as to aid learning new skills. Data collected in this way is shown to be useful for learning and iteratively improving control policies in a robotics domain. Additional examination of the ability of the system to build a growing library of skills, and to judge the progress of the training of those skills, also shows promising results, suggesting that the proposed architecture provides a potential recipe for fully automated mastery of tasks and domains for embodied agents.

We present a new dataset, Functional Map of the World (fMoW), which aims to inspire the development of machine learning models capable of predicting the functional purpose of buildings and land use from temporal sequences of satellite images and a rich set of metadata features. The metadata provided with each image enables reasoning about location, time, sun angles, physical sizes, and other features when making predictions about objects in the image. Our dataset consists of over 1 million images from over 200 countries. For each image, we provide at least one bounding box annotation containing one of 63 categories, including a "false detection" category. We present an analysis of the dataset along with baseline approaches that reason about metadata and temporal views. Our data, code, and pretrained models have been made publicly available.

LLMs have immense potential for generating plans, transforming an initial world state into a desired goal state. A large body of research has explored the use of LLMs for various planning tasks, from web navigation to travel planning and database querying. However, many of these systems are tailored to specific problems, making it challenging to compare them or determine the best approach for new tasks. There is also a lack of clear and consistent evaluation criteria. Our survey aims to offer a comprehensive overview of current LLM planners to fill this gap. It builds on foundational work by Kartam and Wilkins (1990) and examines six key performance criteria: completeness, executability, optimality, representation, generalization, and efficiency. For each, we provide a thorough analysis of representative works and highlight their strengths and weaknesses. Our paper also identifies crucial future directions, making it a valuable resource for both practitioners and newcomers interested in leveraging LLM planning to support agentic workflows.

Skeleton-based action segmentation requires recognizing composable actions in untrimmed videos. Current approaches decouple this problem by first extracting local visual features from skeleton sequences and then processing them by a temporal model to classify frame-wise actions. However, their performances remain limited as the visual features cannot sufficiently express composable actions. In this context, we propose Latent Action Composition (LAC), a novel self-supervised framework aiming at learning from synthesized composable motions for skeleton-based action segmentation. LAC is composed of a novel generation module towards synthesizing new sequences. Specifically, we design a linear latent space in the generator to represent primitive motion. New composed motions can be synthesized by simply performing arithmetic operations on latent representations of multiple input skeleton sequences. LAC leverages such synthesized sequences, which have large diversity and complexity, for learning visual representations of skeletons in both sequence and frame spaces via contrastive learning. The resulting visual encoder has a high expressive power and can be effectively transferred onto action segmentation tasks by end-to-end fine-tuning without the need for additional temporal models. We conduct a study focusing on transfer-learning and we show that representations learned from pre-trained LAC outperform the state-of-the-art by a large margin on TSU, Charades, PKU-MMD datasets.

GUIs have long been central to human-computer interaction, providing an intuitive and visually-driven way to access and interact with digital systems. The advent of LLMs, particularly multimodal models, has ushered in a new era of GUI automation. They have demonstrated exceptional capabilities in natural language understanding, code generation, and visual processing. This has paved the way for a new generation of LLM-brained GUI agents capable of interpreting complex GUI elements and autonomously executing actions based on natural language instructions. These agents represent a paradigm shift, enabling users to perform intricate, multi-step tasks through simple conversational commands. Their applications span across web navigation, mobile app interactions, and desktop automation, offering a transformative user experience that revolutionizes how individuals interact with software. This emerging field is rapidly advancing, with significant progress in both research and industry. To provide a structured understanding of this trend, this paper presents a comprehensive survey of LLM-brained GUI agents, exploring their historical evolution, core components, and advanced techniques. We address research questions such as existing GUI agent frameworks, the collection and utilization of data for training specialized GUI agents, the development of large action models tailored for GUI tasks, and the evaluation metrics and benchmarks necessary to assess their effectiveness. Additionally, we examine emerging applications powered by these agents. Through a detailed analysis, this survey identifies key research gaps and outlines a roadmap for future advancements in the field. By consolidating foundational knowledge and state-of-the-art developments, this work aims to guide both researchers and practitioners in overcoming challenges and unlocking the full potential of LLM-brained GUI agents.

This document serves as a position paper that outlines the authors' vision for a potential pathway towards generalist robots. The purpose of this document is to share the excitement of the authors with the community and highlight a promising research direction in robotics and AI. The authors believe the proposed paradigm is a feasible path towards accomplishing the long-standing goal of robotics research: deploying robots, or embodied AI agents more broadly, in various non-factory real-world settings to perform diverse tasks. This document presents a specific idea for mining knowledge in the latest large-scale foundation models for robotics research. Instead of directly using or adapting these models to produce low-level policies and actions, it advocates for a fully automated generative pipeline (termed as generative simulation), which uses these models to generate diversified tasks, scenes and training supervisions at scale, thereby scaling up low-level skill learning and ultimately leading to a foundation model for robotics that empowers generalist robots. The authors are actively pursuing this direction, but in the meantime, they recognize that the ambitious goal of building generalist robots with large-scale policy training demands significant resources such as computing power and hardware, and research groups in academia alone may face severe resource constraints in implementing the entire vision. Therefore, the authors believe sharing their thoughts at this early stage could foster discussions, attract interest towards the proposed pathway and related topics from industry groups, and potentially spur significant technical advancements in the field.

We present EgoExo-Fitness, a new full-body action understanding dataset, featuring fitness sequence videos recorded from synchronized egocentric and fixed exocentric (third-person) cameras. Compared with existing full-body action understanding datasets, EgoExo-Fitness not only contains videos from first-person perspectives, but also provides rich annotations. Specifically, two-level temporal boundaries are provided to localize single action videos along with sub-steps of each action. More importantly, EgoExo-Fitness introduces innovative annotations for interpretable action judgement--including technical keypoint verification, natural language comments on action execution, and action quality scores. Combining all of these, EgoExo-Fitness provides new resources to study egocentric and exocentric full-body action understanding across dimensions of "what", "when", and "how well". To facilitate research on egocentric and exocentric full-body action understanding, we construct benchmarks on a suite of tasks (i.e., action classification, action localization, cross-view sequence verification, cross-view skill determination, and a newly proposed task of guidance-based execution verification), together with detailed analysis. Code and data will be available at https://github.com/iSEE-Laboratory/EgoExo-Fitness/tree/main.

The existing search tools for exploring the NASA Astrophysics Data System (ADS) can be quite rich and empowering (e.g., similar and trending operators), but researchers are not yet allowed to fully leverage semantic search. For example, a query for "results from the Planck mission" should be able to distinguish between all the various meanings of Planck (person, mission, constant, institutions and more) without further clarification from the user. At ADS, we are applying modern machine learning and natural language processing techniques to our dataset of recent astronomy publications to train astroBERT, a deeply contextual language model based on research at Google. Using astroBERT, we aim to enrich the ADS dataset and improve its discoverability, and in particular we are developing our own named entity recognition tool. We present here our preliminary results and lessons learned.

Human activity is moderated by norms. When performing actions in the real world, humans not only follow norms, but also consider the trade-off between different norms However, machines are often trained without explicit supervision on norm understanding and reasoning, especially when the norms are grounded in a physical and social context. To improve and evaluate the normative reasoning capability of vision-language models (VLMs), we present EgoNormia |epsilon|, consisting of 1,853 ego-centric videos of human interactions, each of which has two related questions evaluating both the prediction and justification of normative actions. The normative actions encompass seven categories: safety, privacy, proxemics, politeness, cooperation, coordination/proactivity, and communication/legibility. To compile this dataset at scale, we propose a novel pipeline leveraging video sampling, automatic answer generation, filtering, and human validation. Our work demonstrates that current state-of-the-art vision-language models lack robust norm understanding, scoring a maximum of 45% on EgoNormia (versus a human bench of 92%). Our analysis of performance in each dimension highlights the significant risks of safety, privacy, and the lack of collaboration and communication capability when applied to real-world agents. We additionally show that through a retrieval-based generation method, it is possible to use EgoNomia to enhance normative reasoning in VLMs.

The ability to plan a course of action that achieves a desired state of affairs has long been considered a core competence of intelligent agents and has been an integral part of AI research since its inception. With the advent of large language models (LLMs), there has been considerable interest in the question of whether or not they possess such planning abilities. PlanBench, an extensible benchmark we developed in 2022, soon after the release of GPT3, has remained an important tool for evaluating the planning abilities of LLMs. Despite the slew of new private and open source LLMs since GPT3, progress on this benchmark has been surprisingly slow. OpenAI claims that their recent o1 (Strawberry) model has been specifically constructed and trained to escape the normal limitations of autoregressive LLMs--making it a new kind of model: a Large Reasoning Model (LRM). Using this development as a catalyst, this paper takes a comprehensive look at how well current LLMs and new LRMs do on PlanBench. As we shall see, while o1's performance is a quantum improvement on the benchmark, outpacing the competition, it is still far from saturating it. This improvement also brings to the fore questions about accuracy, efficiency, and guarantees which must be considered before deploying such systems.

We introduce UFO, an innovative UI-Focused agent to fulfill user requests tailored to applications on Windows OS, harnessing the capabilities of GPT-Vision. UFO employs a dual-agent framework to meticulously observe and analyze the graphical user interface (GUI) and control information of Windows applications. This enables the agent to seamlessly navigate and operate within individual applications and across them to fulfill user requests, even when spanning multiple applications. The framework incorporates a control interaction module, facilitating action grounding without human intervention and enabling fully automated execution. Consequently, UFO transforms arduous and time-consuming processes into simple tasks achievable solely through natural language commands. We conducted testing of UFO across 9 popular Windows applications, encompassing a variety of scenarios reflective of users' daily usage. The results, derived from both quantitative metrics and real-case studies, underscore the superior effectiveness of UFO in fulfilling user requests. To the best of our knowledge, UFO stands as the first UI agent specifically tailored for task completion within the Windows OS environment. The open-source code for UFO is available on https://github.com/microsoft/UFO.

We introduce a novel approach to the executable semantic object rearrangement problem. In this challenge, a robot seeks to create an actionable plan that rearranges objects within a scene according to a pattern dictated by a natural language description. Unlike existing methods such as StructFormer and StructDiffusion, which tackle the issue in two steps by first generating poses and then leveraging a task planner for action plan formulation, our method concurrently addresses pose generation and action planning. We achieve this integration using a Language-Guided Monte-Carlo Tree Search (LGMCTS). Quantitative evaluations are provided on two simulation datasets, and complemented by qualitative tests with a real robot.

We study how vision-language models trained on Internet-scale data can be incorporated directly into end-to-end robotic control to boost generalization and enable emergent semantic reasoning. Our goal is to enable a single end-to-end trained model to both learn to map robot observations to actions and enjoy the benefits of large-scale pretraining on language and vision-language data from the web. To this end, we propose to co-fine-tune state-of-the-art vision-language models on both robotic trajectory data and Internet-scale vision-language tasks, such as visual question answering. In contrast to other approaches, we propose a simple, general recipe to achieve this goal: in order to fit both natural language responses and robotic actions into the same format, we express the actions as text tokens and incorporate them directly into the training set of the model in the same way as natural language tokens. We refer to such category of models as vision-language-action models (VLA) and instantiate an example of such a model, which we call RT-2. Our extensive evaluation (6k evaluation trials) shows that our approach leads to performant robotic policies and enables RT-2 to obtain a range of emergent capabilities from Internet-scale training. This includes significantly improved generalization to novel objects, the ability to interpret commands not present in the robot training data (such as placing an object onto a particular number or icon), and the ability to perform rudimentary reasoning in response to user commands (such as picking up the smallest or largest object, or the one closest to another object). We further show that incorporating chain of thought reasoning allows RT-2 to perform multi-stage semantic reasoning, for example figuring out which object to pick up for use as an improvised hammer (a rock), or which type of drink is best suited for someone who is tired (an energy drink).

Smart home assistants function best when user commands are direct and well-specified (e.g., "turn on the kitchen light"), or when a hard-coded routine specifies the response. In more natural communication, however, human speech is unconstrained, often describing goals (e.g., "make it cozy in here" or "help me save energy") rather than indicating specific target devices and actions to take on those devices. Current systems fail to understand these under-specified commands since they cannot reason about devices and settings as they relate to human situations. We introduce large language models (LLMs) to this problem space, exploring their use for controlling devices and creating automation routines in response to under-specified user commands in smart homes. We empirically study the baseline quality and failure modes of LLM-created action plans with a survey of age-diverse users. We find that LLMs can reason creatively to achieve challenging goals, but they experience patterns of failure that diminish their usefulness. We address these gaps with Sasha, a smarter smart home assistant. Sasha responds to loosely-constrained commands like "make it cozy" or "help me sleep better" by executing plans to achieve user goals, e.g., setting a mood with available devices, or devising automation routines. We implement and evaluate Sasha in a hands-on user study, showing the capabilities and limitations of LLM-driven smart homes when faced with unconstrained user-generated scenarios.

We provide a literature review about Automatic Text Summarization (ATS) systems. We consider a citation-based approach. We start with some popular and well-known papers that we have in hand about each topic we want to cover and we have tracked the "backward citations" (papers that are cited by the set of papers we knew beforehand) and the "forward citations" (newer papers that cite the set of papers we knew beforehand). In order to organize the different methods, we present the diverse approaches to ATS guided by the mechanisms they use to generate a summary. Besides presenting the methods, we also present an extensive review of the datasets available for summarization tasks and the methods used to evaluate the quality of the summaries. Finally, we present an empirical exploration of these methods using the CNN Corpus dataset that provides golden summaries for extractive and abstractive methods.

Contrastive learning has shown promising potential for learning robust representations by utilizing unlabeled data. However, constructing effective positive-negative pairs for contrastive learning on facial behavior datasets remains challenging. This is because such pairs inevitably encode the subject-ID information, and the randomly constructed pairs may push similar facial images away due to the limited number of subjects in facial behavior datasets. To address this issue, we propose to utilize activity descriptions, coarse-grained information provided in some datasets, which can provide high-level semantic information about the image sequences but is often neglected in previous studies. More specifically, we introduce a two-stage Contrastive Learning with Text-Embeded framework for Facial behavior understanding (CLEF). The first stage is a weakly-supervised contrastive learning method that learns representations from positive-negative pairs constructed using coarse-grained activity information. The second stage aims to train the recognition of facial expressions or facial action units by maximizing the similarity between image and the corresponding text label names. The proposed CLEF achieves state-of-the-art performance on three in-the-lab datasets for AU recognition and three in-the-wild datasets for facial expression recognition.

In this paper, we tackle the problem of how to build and benchmark a large motion model (LMM). The ultimate goal of LMM is to serve as a foundation model for versatile motion-related tasks, e.g., human motion generation, with interpretability and generalizability. Though advanced, recent LMM-related works are still limited by small-scale motion data and costly text descriptions. Besides, previous motion benchmarks primarily focus on pure body movements, neglecting the ubiquitous motions in context, i.e., humans interacting with humans, objects, and scenes. To address these limitations, we consolidate large-scale video action datasets as knowledge banks to build MotionBank, which comprises 13 video action datasets, 1.24M motion sequences, and 132.9M frames of natural and diverse human motions. Different from laboratory-captured motions, in-the-wild human-centric videos contain abundant motions in context. To facilitate better motion text alignment, we also meticulously devise a motion caption generation algorithm to automatically produce rule-based, unbiased, and disentangled text descriptions via the kinematic characteristics for each motion. Extensive experiments show that our MotionBank is beneficial for general motion-related tasks of human motion generation, motion in-context generation, and motion understanding. Video motions together with the rule-based text annotations could serve as an efficient alternative for larger LMMs. Our dataset, codes, and benchmark will be publicly available at https://github.com/liangxuy/MotionBank.

We present an approach called Dialogue Action Tokens (DAT) that adapts language model agents to plan goal-directed dialogues. The core idea is to treat each utterance as an action, thereby converting dialogues into games where existing approaches such as reinforcement learning can be applied. Specifically, we freeze a pretrained language model and train a small planner model that predicts a continuous action vector, used for controlled generation in each round. This design avoids the problem of language degradation under reward optimization. When evaluated on the Sotopia platform for social simulations, the DAT-steered LLaMA model surpasses GPT-4's performance. We also apply DAT to steer an attacker language model in a novel multi-turn red-teaming setting, revealing a potential new attack surface.

Generating natural human motion from a story has the potential to transform the landscape of animation, gaming, and film industries. A new and challenging task, Story-to-Motion, arises when characters are required to move to various locations and perform specific motions based on a long text description. This task demands a fusion of low-level control (trajectories) and high-level control (motion semantics). Previous works in character control and text-to-motion have addressed related aspects, yet a comprehensive solution remains elusive: character control methods do not handle text description, whereas text-to-motion methods lack position constraints and often produce unstable motions. In light of these limitations, we propose a novel system that generates controllable, infinitely long motions and trajectories aligned with the input text. (1) We leverage contemporary Large Language Models to act as a text-driven motion scheduler to extract a series of (text, position, duration) pairs from long text. (2) We develop a text-driven motion retrieval scheme that incorporates motion matching with motion semantic and trajectory constraints. (3) We design a progressive mask transformer that addresses common artifacts in the transition motion such as unnatural pose and foot sliding. Beyond its pioneering role as the first comprehensive solution for Story-to-Motion, our system undergoes evaluation across three distinct sub-tasks: trajectory following, temporal action composition, and motion blending, where it outperforms previous state-of-the-art motion synthesis methods across the board. Homepage: https://story2motion.github.io/.

Deep models that are both effective and explainable are desirable in many settings; prior explainable models have been unimodal, offering either image-based visualization of attention weights or text-based generation of post-hoc justifications. We propose a multimodal approach to explanation, and argue that the two modalities provide complementary explanatory strengths. We collect two new datasets to define and evaluate this task, and propose a novel model which can provide joint textual rationale generation and attention visualization. Our datasets define visual and textual justifications of a classification decision for activity recognition tasks (ACT-X) and for visual question answering tasks (VQA-X). We quantitatively show that training with the textual explanations not only yields better textual justification models, but also better localizes the evidence that supports the decision. We also qualitatively show cases where visual explanation is more insightful than textual explanation, and vice versa, supporting our thesis that multimodal explanation models offer significant benefits over unimodal approaches.

Next generation virtual assistants are envisioned to handle multimodal inputs (e.g., vision, memories of previous interactions, in addition to the user's utterances), and perform multimodal actions (e.g., displaying a route in addition to generating the system's utterance). We introduce Situated Interactive MultiModal Conversations (SIMMC) as a new direction aimed at training agents that take multimodal actions grounded in a co-evolving multimodal input context in addition to the dialog history. We provide two SIMMC datasets totalling ~13K human-human dialogs (~169K utterances) using a multimodal Wizard-of-Oz (WoZ) setup, on two shopping domains: (a) furniture (grounded in a shared virtual environment) and, (b) fashion (grounded in an evolving set of images). We also provide logs of the items appearing in each scene, and contextual NLU and coreference annotations, using a novel and unified framework of SIMMC conversational acts for both user and assistant utterances. Finally, we present several tasks within SIMMC as objective evaluation protocols, such as Structural API Prediction and Response Generation. We benchmark a collection of existing models on these SIMMC tasks as strong baselines, and demonstrate rich multimodal conversational interactions. Our data, annotations, code, and models are publicly available.

This paper introduces 26 guiding principles designed to streamline the process of querying and prompting large language models. Our goal is to simplify the underlying concepts of formulating questions for various scales of large language models, examining their abilities, and enhancing user comprehension on the behaviors of different scales of large language models when feeding into different prompts. Extensive experiments are conducted on LLaMA-1/2 (7B, 13B and 70B), GPT-3.5/4 to verify the effectiveness of the proposed principles on instructions and prompts design. We hope that this work provides a better guide for researchers working on the prompting of large language models. Project page is available at https://github.com/VILA-Lab/ATLAS.

Generative modeling of complex behaviors from labeled datasets has been a longstanding problem in decision making. Unlike language or image generation, decision making requires modeling actions - continuous-valued vectors that are multimodal in their distribution, potentially drawn from uncurated sources, where generation errors can compound in sequential prediction. A recent class of models called Behavior Transformers (BeT) addresses this by discretizing actions using k-means clustering to capture different modes. However, k-means struggles to scale for high-dimensional action spaces or long sequences, and lacks gradient information, and thus BeT suffers in modeling long-range actions. In this work, we present Vector-Quantized Behavior Transformer (VQ-BeT), a versatile model for behavior generation that handles multimodal action prediction, conditional generation, and partial observations. VQ-BeT augments BeT by tokenizing continuous actions with a hierarchical vector quantization module. Across seven environments including simulated manipulation, autonomous driving, and robotics, VQ-BeT improves on state-of-the-art models such as BeT and Diffusion Policies. Importantly, we demonstrate VQ-BeT's improved ability to capture behavior modes while accelerating inference speed 5x over Diffusion Policies. Videos and code can be found https://sjlee.cc/vq-bet

In this paper, we propose a robot oriented knowledge management system based on the use of the Prolog language. Our framework hinges on a special organisation of knowledge base that enables: 1. its efficient population from natural language texts using semi-automated procedures based on Large Language Models, 2. the bumpless generation of temporal parallel plans for multi-robot systems through a sequence of transformations, 3. the automated translation of the plan into an executable formalism (the behaviour trees). The framework is supported by a set of open source tools and is shown on a realistic application.