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Enabling embodied agents to complete complex human instructions from natural language is crucial to autonomous systems in household services. Conventional methods can only accomplish human instructions in the known environment where all interactive objects are provided to the embodied agent, and directly deploying the existing approaches for the unknown environment usually generates infeasible plans that manipulate non-existing objects. On the contrary, we propose an embodied instruction following (EIF) method for complex tasks in the unknown environment, where the agent efficiently explores the unknown environment to generate feasible plans with existing objects to accomplish abstract instructions. Specifically, we build a hierarchical embodied instruction following framework including the high-level task planner and the low-level exploration controller with multimodal large language models. We then construct a semantic representation map of the scene with dynamic region attention to demonstrate the known visual clues, where the goal of task planning and scene exploration is aligned for human instruction. For the task planner, we generate the feasible step-by-step plans for human goal accomplishment according to the task completion process and the known visual clues. For the exploration controller, the optimal navigation or object interaction policy is predicted based on the generated step-wise plans and the known visual clues. The experimental results demonstrate that our method can achieve 45.09% success rate in 204 complex human instructions such as making breakfast and tidying rooms in large house-level scenes., Comment: Project Page: https://gary3410.github.io/eif_unknown/

Intrinsic self-correct was a method that instructed large language models (LLMs) to verify and correct their responses without external feedback. Unfortunately, the study concluded that the LLMs could not self-correct reasoning yet. We find that a simple yet effective verification method can unleash inherent capabilities of the LLMs. That is to mask a key condition in the question, add the current response to construct a verification question, and predict the condition to verify the response. The condition can be an entity in an open-domain question or a numeric value in a math question, which requires minimal effort (via prompting) to identify. We propose an iterative verify-then-correct framework to progressively identify and correct (probably) false responses, named ProCo. We conduct experiments on three reasoning tasks. On average, ProCo, with GPT-3.5-Turbo as the backend LLM, yields $+6.8$ exact match on four open-domain question answering datasets, $+14.1$ accuracy on three arithmetic reasoning datasets, and $+9.6$ accuracy on a commonsense reasoning dataset, compared to Self-Correct., Comment: Work in Progress

Math word problem (MWP) solving requires generating a reasoning path based on a given problem description that often contains irrelevant conditions. Existing chain-of-thought (CoT) prompting methods elicited multi-step reasoning abilities of large language models (LLMs) to solve MWPs. However, they were seriously confused by the irrelevant conditions, resulting in low accuracy. In this paper, we propose a novel approach named I$^3$C that instructs LLMs to identify and ignore irrelevant conditions. It identifies a set of irrelevant condition candidates that have a weak semantic relevance with the question. Then it prompts LLMs to verify the irrelevant conditions. Lastly it instructs the LLMs with the verification on relevant and irrelevant conditions to avoid confusion and improve reasoning paths. Moreover, we propose to select (problem, reasoning paths) pairs as demonstrations to enhance I$^3$C with few-shot reasoning. We develop I$^3$C-Select that selects the most confusing problems based on the semantic relevance measurement. We conduct extensive experiments on eight MWP datasets. I$^3$C can be combined with any CoT prompting methods to improve the performance of solving MWPs. Notably, with GPT-3.5-Turbo and I$^3$C-Select, we achieve an accuracy of 96.0 and 94.1 on GSM-IC2-1K and GSM-ICM-1K, respectively, significantly outperforming the state-of-the-art few-shot prompting method Complex-CoT by +11.7 and +11.1. Our implementation is made publicly available at https://wzy6642.github.io/I3C.github.io/., Comment: NAACL 2024 - Camera Ready

Federated learning is designed to enhance data security and privacy, but faces challenges when dealing with heterogeneous data in long-tailed and non-IID distributions. This paper explores an overlooked scenario where tail classes are sparsely distributed over a few clients, causing the models trained with these classes to have a lower probability of being selected during client aggregation, leading to slower convergence rates and poorer model performance. To address this issue, we propose a two-stage Decoupled Federated learning framework using Feature Statistics (DFL-FS). In the first stage, the server estimates the client's class coverage distributions through masked local feature statistics clustering to select models for aggregation to accelerate convergence and enhance feature learning without privacy leakage. In the second stage, DFL-FS employs federated feature regeneration based on global feature statistics and utilizes resampling and weighted covariance to calibrate the global classifier to enhance the model's adaptability to long-tailed data distributions. We conducted experiments on CIFAR10-LT and CIFAR100-LT datasets with various long-tailed rates. The results demonstrate that our method outperforms state-of-the-art methods in both accuracy and convergence rate.

Class-incremental learning (CIL) aims to train classifiers that learn new classes without forgetting old ones. Most CIL methods focus on balanced data distribution for each task, overlooking real-world long-tailed distributions. Therefore, Long-Tailed Class-Incremental Learning (LT-CIL) has been introduced, which trains on data where head classes have more samples than tail classes. Existing methods mainly focus on preserving representative samples from previous classes to combat catastrophic forgetting. Recently, dynamic network algorithms frozen old network structures and expanded new ones, achieving significant performance. However, with the introduction of the long-tail problem, merely extending task-specific parameters can lead to miscalibrated predictions, while expanding the entire model results in an explosion of memory size. To address these issues, we introduce a novel Task-aware Expandable (TaE) framework, dynamically allocating and updating task-specific trainable parameters to learn diverse representations from each incremental task, while resisting forgetting through the majority of frozen model parameters. To further encourage the class-specific feature representation, we develop a Centroid-Enhanced (CEd) method to guide the update of these task-aware parameters. This approach is designed to adaptively minimize the distances between intra-class features while simultaneously maximizing the distances between inter-class features across all seen classes. The utility of this centroid-enhanced method extends to all "training from scratch" CIL algorithms. Extensive experiments were conducted on CIFAR-100 and ImageNet100 under different settings, which demonstrates that TaE achieves state-of-the-art performance.

Colorectal polyp segmentation (CPS), an essential problem in medical image analysis, has garnered growing research attention. Recently, the deep learning-based model completely overwhelmed traditional methods in the field of CPS, and more and more deep CPS methods have emerged, bringing the CPS into the deep learning era. To help the researchers quickly grasp the main techniques, datasets, evaluation metrics, challenges, and trending of deep CPS, this paper presents a systematic and comprehensive review of deep-learning-based CPS methods from 2014 to 2023, a total of 115 technical papers. In particular, we first provide a comprehensive review of the current deep CPS with a novel taxonomy, including network architectures, level of supervision, and learning paradigm. More specifically, network architectures include eight subcategories, the level of supervision comprises six subcategories, and the learning paradigm encompasses 12 subcategories, totaling 26 subcategories. Then, we provided a comprehensive analysis the characteristics of each dataset, including the number of datasets, annotation types, image resolution, polyp size, contrast values, and polyp location. Following that, we summarized CPS's commonly used evaluation metrics and conducted a detailed analysis of 40 deep SOTA models, including out-of-distribution generalization and attribute-based performance analysis. Finally, we discussed deep learning-based CPS methods' main challenges and opportunities., Comment: 21 pages, 8 figures