LLM evaluation benchmarks have traditionally separated the testing of knowledge/reasoning capabilities from instruction following. In this work, we study the interaction between knowledge and instruction following, and observe that LLMs struggle to follow simple answer modifying instructions, and are also distracted by instructions that should have no bearing on the original knowledge task answer. We leverage existing multiple-choice answer based knowledge benchmarks and apply a set of simple instructions which include manipulating text (eg.: change case), numeric quantities (eg.: increase value, change formatting), operate on lists (eg.: sort answer candidates) and distractor instructions (eg.: change case of numeric answers). We evaluate models at varying parameter sizes (1B-405B) from different model families and find that, surprisingly, all models report a significant drop in performance on such simple task compositions. While large-sized and frontier models report performance drops of 40-50%, in small and medium sized models the drop is severe (sometimes exceeding 80%). Our results highlight a limitation in the traditional separation of knowledge/reasoning and instruction following, and suggest that joint-study of these capabilities are important. We release our benchmark dataset, evaluation framework code, and results for future work.
This paper describes an alignment-based model for interpreting natural language instructions in context. We approach instruction following as a search over plans, scoring sequences of actions conditioned on structured observations of text and the environment. By explicitly modeling both the low-level compositional structure of individual actions and the high-level structure of full plans, we are able to learn both grounded representations of sentence meaning and pragmatic constraints on interpretation. To demonstrate the model's flexibility, we apply it to a diverse set of benchmark tasks. On …
Patches of Nonlinearity: Instruction Vectors in Large Language Models
Ubiquitous Knowledge Processing Lab (UKP Lab)（通用知识处理实验室）；Department of Computer Science, Technical University of Darmstadt and National Research Center for Applied Cybersecurity ATHENE, Germany（计算机科学系，达姆施塔特技术大学和应用网络安全国家研究中心ATHENE，德国）
VisIT-Bench: A Benchmark for Vision-Language Instruction Following Inspired by Real-World Use
Hebrew University（希伯来大学）；Google Research（谷歌研究院）；UCLA（加州大学洛杉矶分校）；Allen Institute for AI（艾伦人工智能研究所）；University of Washington（华盛顿大学）；UCSB（加州大学圣塔芭芭拉分校）；Stanford（斯坦福大学）；LAION
Persistent Personas? Role-Playing, Instruction Following, and Safety in Extended Interactions
University of Vienna, Faculty of Computer Science（维也纳大学计算机科学系）；Doctoral School Computer Science, University of Vienna（维也纳大学计算机科学博士学院）；Center for Information and Language Processing, LMU Munich（慕尼黑大学信息与语言处理中心）；Munich Center for Machine Learning（慕尼黑机器学习中心）；University of Vienna, Faculty of Philological and Cultural Studies（维也纳大学文学与文化研究系）
We study the problem of learning a robot policy to follow natural language instructions that can be easily extended to reason about new objects. We introduce a few-shot language-conditioned object grounding method trained from augmented reality data that uses exemplars to identify objects and align them to their mentions in instructions. We present a learned map representation that encodes object locations and their instructed use, and construct it from our few-shot grounding output. We integrate this mapping approach into an instruction-following policy, thereby allowing it to reason about pr…
Université de Lille（里尔大学）；CNRS（法国国家科学研究中心）；Inria（法国国家信息与自动化研究所）；DeepMind（深度思考）；Google Research（谷歌研究院）
Language creates a compact representation of the world and allows the description of unlimited situations and objectives through compositionality. While these characterizations may foster instructing, conditioning or structuring interactive agent behavior, it remains an open-problem to correctly relate language understanding and reinforcement learning in even simple instruction following scenarios. This joint learning problem is alleviated through expert demonstrations, auxiliary losses, or neural inductive biases. In this paper, we propose an orthogonal approach called Hindsight Generation fo…
Georgia Institute of Technology（佐治亚理工学院）；Facebook AI Research（脸书人工智能研究院）；Oregon State University（俄勒冈州立大学）
A visually-grounded navigation instruction can be interpreted as a sequence of expected observations and actions an agent following the correct trajectory would encounter and perform. Based on this intuition, we formulate the problem of finding the goal location in Vision-and-Language Navigation (VLN) within the framework of Bayesian state tracking - learning observation and motion models conditioned on these expectable events. Together with a mapper that constructs a semantic spatial map on-the-fly during navigation, we formulate an end-to-end differentiable Bayes filter and train it to ident…
Advances in Deep Reinforcement Learning have led to agents that perform well across a variety of sensory-motor domains. In this work, we study the setting in which an agent must learn to generate programs for diverse scenes conditioned on a given symbolic instruction. Final goals are specified to our agent via images of the scenes. A symbolic instruction consistent with the goal images is used as the conditioning input for our policies. Since a single instruction corresponds to a diverse set of different but still consistent end-goal images, the agent needs to learn to generate a distribution …
Natural Language-conditioned reinforcement learning (RL) enables the agents to follow human instructions. Previous approaches generally implemented language-conditioned RL by providing human instructions in natural language (NL) and training a following policy. In this outside-in approach, the policy needs to comprehend the NL and manage the task simultaneously. However, the unbounded NL examples often bring much extra complexity for solving concrete RL tasks, which can distract policy learning from completing the task. To ease the learning burden of the policy, we investigate an inside-out sc…
We propose to decompose instruction execution to goal prediction and action generation. We design a model that maps raw visual observations to goals using LINGUNET, a language-conditioned image generation network, and then generates the actions required to complete them. Our model is trained from demonstration only without external resources. To evaluate our approach, we introduce two benchmarks for instruction following: LANI, a navigation task; and CHAI, where an agent executes household instructions. Our evaluation demonstrates the advantages of our model decomposition, and illustrates the …
University of Washington（华盛顿大学）；Google Research（谷歌研究院）
In instruction conditioned navigation, agents interpret natural language and their surroundings to navigate through an environment. Datasets for studying this task typically contain pairs of these instructions and reference trajectories. Yet, most evaluation metrics used thus far fail to properly account for the latter, relying instead on insufficient similarity comparisons. We address fundamental flaws in previously used metrics and show how Dynamic Time Warping (DTW), a long known method of measuring similarity between two time series, can be used for evaluation of navigation agents. For suc…
In the real world, linguistic agents are also embodied agents: they perceive and act in the physical world. The notion of Language Grounding questions the interactions between language and embodiment: how do learning agents connect or ground linguistic representations to the physical world ? This question has recently been approached by the Reinforcement Learning community under the framework of instruction-following agents. In these agents, behavioral policies or reward functions are conditioned on the embedding of an instruction expressed in natural language. This paper proposes another appr…
Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often impractical in open-world environments. On the other hand, previous approaches in instruction following allow agent behavior to be guided by language, but typically assume structure in the observations, actuators, or language that limit their applicability to complex settings like robotics. In this work, we present a method for incorporating free-form natural…
University of Freiburg（弗赖堡大学）；University of Technology Nuremberg（纽伦堡工业大学）
General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range of daily tasks. Moreover, they need to acquire a diverse repertoire of general-purpose skills that allow composing long-horizon tasks by following unconstrained language instructions. In this paper, we present CALVIN (Composing Actions from Language and Vision), an open-source simulated benchmark to learn long-horizon language-conditioned tasks. Our aim is to make it possible to develop agents that can solve many robotic manipulation ta…
Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies. FollowNet maps natural language instructions as well as visual and depth inputs to locomotion primitives. FollowNet processes instructions using an attention mechanism conditioned on its visual and depth input to focus on the relevant parts of the command while performing the navigation task. Deep reinforcement learning (RL) a sparse reward learns simultaneo…
