For AI agents to be helpful to humans, they should be able to follow natural language instructions to complete everyday cooperative tasks in human environments. However, real human instructions inherently possess ambiguity, because the human speakers assume sufficient prior knowledge about their hidden goals and intentions. Standard language grounding and planning methods fail to address such ambiguities because they do not model human internal goals as additional partially observable factors in the environment. We propose a new framework, Follow Instructions with Social and Embodied Reasoning (FISER), aiming for better natural language instruction following in collaborative embodied tasks. Our framework makes explicit inferences about human goals and intentions as intermediate reasoning steps. We implement a set of Transformer-based models and evaluate them over a challenging benchmark, HandMeThat. We empirically demonstrate that using social reasoning to explicitly infer human intentions before making action plans surpasses purely end-to-end approaches. We also compare our implementation with strong baselines, including Chain of Thought prompting on the largest available pre-trained language models, and find that FISER provides better performance on the embodied social reasoning tasks under investigation, reaching the state-of-the-art on HandMeThat.
We study Exo-MDPs, a structured class of Markov Decision Processes (MDPs) where the state space is partitioned into exogenous and endogenous components. Exogenous states evolve stochastically, independent of the agent's actions, while endogenous states evolve deterministically based on both state components and actions. Exo-MDPs are useful for applications including inventory control, portfolio management, and ride-sharing. Our first result is structural, establishing a representational equivalence between the classes of discrete MDPs, Exo-MDPs, and discrete linear mixture MDPs. Specifically, any discrete MDP can be represented as an Exo-MDP, and the transition and reward dynamics can be written as linear functions of the exogenous state distribution, showing that Exo-MDPs are instances of linear mixture MDPs. For unobserved exogenous states, we prove a regret upper bound of $O(H^{3/2}d\sqrt{K})$ over $K$ trajectories of horizon $H$, with $d$ as the size of the exogenous state space, and establish nearly-matching lower bounds. Our findings demonstrate how Exo-MDPs decouple sample complexity from action and endogenous state sizes, and we validate our theoretical insights with experiments on inventory control.
In this paper, we consider two-player zero-sum matrix and stochastic games and develop learning dynamics that are payoff-based, convergent, rational, and symmetric between the two players. Specifically, the learning dynamics for matrix games are based on the smoothed best-response dynamics, while the learning dynamics for stochastic games build upon those for matrix games, with additional incorporation of the minimax value iteration. To our knowledge, our theoretical results present the first finite-sample analysis of such learning dynamics with last-iterate guarantees. In the matrix game setting, the results imply a sample complexity of $O(\epsilon^{-1})$ to find the Nash distribution and a sample complexity of $O(\epsilon^{-8})$ to find a Nash equilibrium. In the stochastic game setting, the results also imply a sample complexity of $O(\epsilon^{-8})$ to find a Nash equilibrium. To establish these results, the main challenge is to handle stochastic approximation algorithms with multiple sets of coupled and stochastic iterates that evolve on (possibly) different time scales. To overcome this challenge, we developed a coupled Lyapunov-based approach, which may be of independent interest to the broader community studying the convergence behavior of stochastic approximation algorithms.
This paper considers a novel online fair division problem involving multiple agents in which a learner observes an indivisible item that has to be irrevocably allocated to one of the agents while satisfying a fairness and efficiency constraint. Existing algorithms assume a small number of items with a sufficiently large number of copies, which ensures a good utility estimation for all item-agent pairs. However, such an assumption may not hold in many real-life applications, e.g., an online platform that has a large number of users (items) who only use the platform's service providers (agents) a few times (a few copies of items), which makes it difficult to estimate the utility for all item-agent pairs. To overcome this challenge, we model the online fair division problem using contextual bandits, assuming the utility is an unknown function of the item-agent features. We then propose algorithms for online fair division with sub-linear regret guarantees. Our experimental results also verify the different performance aspects of the proposed algorithms.
Large language models (LLMs) are widely used in decision-making, but their reliability, especially in critical tasks like healthcare, is not well-established. Therefore, understanding how LLMs reason and make decisions is crucial for their safe deployment. This paper investigates how the uncertainty of responses generated by LLMs relates to the information provided in the input prompt. Leveraging the insight that LLMs learn to infer latent concepts during pretraining, we propose a prompt-response concept model that explains how LLMs generate responses and helps understand the relationship between prompts and response uncertainty. We show that the uncertainty decreases as the prompt's informativeness increases, similar to epistemic uncertainty. Our detailed experimental results on real datasets validate our proposed model.
AI agents have become increasingly significant in various domains, enabling autonomous decision-making and problem-solving. To function effectively, these agents require a planning process that determines the best course of action and then executes the planned actions. In this paper, we present an efficient on-device Planner-Action framework that separates planning and action execution into two distinct components: a planner agent based on Phi-3 Mini, a 3.8 billion parameter LLM optimized for edge devices, and an action agent using the Octopus model for function execution. The planner agent first responds to user queries by decomposing tasks into a sequence of sub-steps, which are then executed by the action agent. To optimize performance on resource-constrained devices, we employ model fine-tuning instead of in-context learning, reducing computational costs and energy consumption while improving response times. Our approach involves using GPT-4 to generate diverse planning queries and responses based on available functions, with subsequent validations to ensure data quality. We fine-tune the Phi-3 Mini model on this curated dataset, achieving a 97\% success rate in our in-domain test environment. To address multi-domain planning challenges, we developed a multi-LoRA training method that merges weights from LoRAs trained on distinct function subsets. This approach enables flexible handling of complex, multi-domain queries while maintaining computational efficiency on resource-constrained devices. To support further research, we have open-sourced our model weights at \url{https://huggingface.co/NexaAIDev/octopus-planning}. For the demo, please refer to \url{https://www.nexa4ai.com/octo-planner}.
This paper addresses the challenge of reconstructing surfaces from sparse view inputs, where ambiguity and occlusions due to missing information pose significant hurdles. We present a novel approach, named EpiS, that incorporates Epipolar information into the reconstruction process. Existing methods in sparse-view neural surface learning have mainly focused on mean and variance considerations using cost volumes for feature extraction. In contrast, our method aggregates coarse information from the cost volume into Epipolar features extracted from multiple source views, enabling the generation of fine-grained Signal Distance Function (SDF)-aware features. Additionally, we employ an attention mechanism along the line dimension to facilitate feature fusion based on the SDF feature. Furthermore, to address the information gaps in sparse conditions, we integrate depth information from monocular depth estimation using global and local regularization techniques. The global regularization utilizes a triplet loss function, while the local regularization employs a derivative loss function. Extensive experiments demonstrate that our approach outperforms state-of-the-art methods, especially in cases with sparse and generalizable conditions.
We consider the problem of solving a large-scale system of linear equations in a distributed or federated manner by a taskmaster and a set of machines, each possessing a subset of the equations. We provide a comprehensive comparison of two well-known classes of algorithms used to solve this problem: projection-based methods and optimization-based methods. First, we introduce a novel geometric notion of data heterogeneity called angular heterogeneity and discuss its generality. Using this notion, we characterize the optimal convergence rates of the most prominent algorithms from each class, capturing the effects of the number of machines, the number of equations, and that of both cross-machine and local data heterogeneity on these rates. Our analysis establishes the superiority of Accelerated Projected Consensus in realistic scenarios with significant data heterogeneity and offers several insights into how angular heterogeneity affects the efficiency of the methods studied. Additionally, we develop distributed algorithms for the efficient computation of the proposed angular heterogeneity metrics. Our extensive numerical analyses validate and complement our theoretical results.