Related papers: Does VLN Pretraining Work with Nonsensical or Irre…

Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions and navigate through previously unseen environments. Recent approaches increasingly employ large language models (LLMs) as high-level navigators…

Conventional wisdom suggests that pre-training Vision Transformers (ViT) improves downstream performance by learning useful representations. Is this actually true? We investigate this question and find that the features and representations…

Large Language Models (LLMs) are highly vulnerable to input perturbations, as even a small prompt change may result in a substantially different output. Existing methods to enhance LLM robustness are primarily focused on perturbed data…

In this paper, we study how the intrinsic nature of pre-training data contributes to the fine-tuned downstream performance. To this end, we pre-train different transformer-based masked language models on several corpora with certain…

RLVR improves reasoning in large language models, but its effectiveness is often limited by severe reward sparsity on hard problems. Recent hint-based RL methods mitigate sparsity by injecting partial solutions or abstract templates, yet…

Prompt tuning is a parameter-efficient way to deploy large-scale pre-trained models to downstream tasks by adding task-specific tokens. In terms of vision-language pre-trained (VLP) models, prompt tuning often requires a large number of…

Vision-and-language navigation (VLN) aims to enable embodied agents to navigate in realistic environments using natural language instructions. Given the scarcity of domain-specific training data and the high diversity of image and language…

Instruction tuning enables language models to more effectively generalize and better follow user intent. However, obtaining instruction data is costly and challenging. Prior work employs methods such as expensive human annotation,…

Real-world navigation often involves dealing with unexpected obstructions such as closed doors, moved objects, and unpredictable entities. However, mainstream Vision-and-Language Navigation (VLN) tasks typically assume instructions…

Visual language navigation (VLN) is an embodied task demanding a wide range of skills encompassing understanding, perception, and planning. For such a multifaceted challenge, previous VLN methods totally rely on one model's own thinking to…

Large language models (LLMs) have recently emerged as powerful tools for tackling many language-processing tasks. Despite their success, training and fine-tuning these models is still far too computationally and memory intensive. In this…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

Vision-and-Language Navigation (VLN) is an essential skill for embodied agents, allowing them to navigate in 3D environments following natural language instructions. High-performance navigation models require a large amount of training…

The correct specification of reward models is a well-known challenge in reinforcement learning. Hand-crafted reward functions often lead to inefficient or suboptimal policies and may not be aligned with user values. Reinforcement learning…

Large Language Models (LLMs) are pretrained on massive datasets and later instruction-tuned via supervised fine-tuning (SFT) or reinforcement learning (RL). Best practices emphasize large, diverse pretraining data, whereas post-training…

Unsupervised neural machine translation(NMT) is associated with noise and errors in synthetic data when executing vanilla back-translations. Here, we explicitly exploits language model(LM) to drive construction of an unsupervised NMT…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

Accuracy of many visiolinguistic tasks has benefited significantly from the application of vision-and-language(V&L) BERT. However, its application for the task of vision-and-language navigation (VLN) remains limited. One reason for this is…

Large language models (LLMs) exhibit remarkable generative capabilities but raise ethical and security concerns by memorizing sensitive data, reinforcing biases, and producing harmful content. These risks have spurred interest in LLM…

We study how to perform unlearning, i.e. forgetting undesirable misbehaviors, on large language models (LLMs). We show at least three scenarios of aligning LLMs with human preferences can benefit from unlearning: (1) removing harmful…