Understanding and following natural language instructions while navigating through complex, real-world environments poses a significant challenge for general-purpose robots. These environments often include obstacles and pedestrians, making it essential for autonomous agents to possess the capability of self-corrected planning to adjust their actions based on feedback from the surroundings. However, the majority of existing vision-and-language navigation (VLN) methods primarily operate in less realistic simulator settings and do not incorporate environmental feedback into their decision-making processes. To address this gap, we introduce a novel zero-shot framework called CorNav, utilizing a large language model for decision-making and comprising two key components: 1) incorporating environmental feedback for refining future plans and adjusting its actions, and 2) multiple domain experts for parsing instructions, scene understanding, and refining predicted actions. In addition to the framework, we develop a 3D simulator that renders realistic scenarios using Unreal Engine 5. To evaluate the effectiveness and generalization of navigation agents in a zero-shot multi-task setting, we create a benchmark called NavBench. Our empirical study involves deploying 7 baselines across four tasks, i.e., goal-conditioned navigation given a specific object category, goal-conditioned navigation given simple instructions, finding abstract objects based on high-level instructions, and step-by-step instruction following. Extensive experiments demonstrate that CorNav consistently outperforms all baselines by a significant margin across all tasks. On average, CorNav achieves a success rate of 28.1%, surpassing the best baseline’s performance of 20.5%.

In recent years, the field of computer vision has seen significant advancements thanks to the development of large language models (LLMs). These models have enabled more effective and sophisticated interactions between humans and machines, paving the way for novel techniques that blur the lines between human and machine intelligence. In this paper, we introduce a new paradigm for object detection that we call reasoning-based object detection. Unlike conventional object detection methods that rely on specific object names, our approach enables users to interact with the system using natural language instructions, allowing for a higher level of interactivity. Our proposed method, called DetGPT, leverages state-of-the-art multi-modal models and open-vocabulary object detectors to perform reasoning within the context of the user’s instructions and the visual scene. This enables DetGPT to automatically locate the object of interest based on the user’s expressed desires, even if the object is not explicitly mentioned. For instance, if a user expresses a desire for a cold beverage, DetGPT can analyze the image, identify a fridge, and use its knowledge of typical fridge contents to locate the beverage. This flexibility makes our system applicable across a wide range of fields, from robotics and automation to autonomous driving. Overall, our proposed paradigm and DetGPT demonstrate the potential for more sophisticated and intuitive interactions between humans and machines. We hope that our proposed paradigm and approach will provide inspiration to the community and open the door to more interactive and versatile object detection systems.

Vision-language navigation (VLN) is a challenging task due to its large searching space in the environment. To address this problem, previous works have proposed some methods of fine-tuning a large model that pretrained on large-scale datasets. However, the conventional fine-tuning methods require extra human-labeled navigation data and lack self-exploration capabilities in environments, which hinders their generalization of unseen scenes. To improve the ability of fast cross-domain adaptation, we propose Prompt-based Environmental Self-exploration (ProbES), which can self-explore the environments by sampling trajectories and automatically generates structured instructions via a large-scale cross-modal pretrained model (CLIP). Our method fully utilizes the knowledge learned from CLIP to build an in-domain dataset by self-exploration without human labeling. Unlike the conventional approach of fine-tuning, we introduce prompt tuning to achieve fast adaptation for language embeddings, which substantially improves the learning efficiency by leveraging prior knowledge. By automatically synthesizing trajectory-instruction pairs in any environment without human supervision and instruction prompt tuning, our model can adapt to diverse vision-language navigation tasks, including VLN and REVERIE. Both qualitative and quantitative results show that our ProbES significantly improves the generalization ability of the navigation model.

There is a growing interest in dataset generation recently due to the superior generative capacity of large pre-trained language models (PLMs). In this paper, we study a flexible and efficient zero-short learning method, ZeroGen.Given a zero-shot task, we first generate a dataset from scratch using PLMs in an unsupervised manner. Then, we train a tiny task model (e.g., LSTM) under the supervision of the synthesized dataset. This approach allows highly efficient inference as the final task model only has orders of magnitude fewer parameters comparing to PLMs (e.g., GPT2-XL).Apart from being annotation-free and efficient, we argue that ZeroGen can also provide useful insights from the perspective of data-free model-agnostic knowledge distillation, and unreferenced text generation evaluation. Experiments and analysis on different NLP tasks, namely, text classification, question answering, and natural language inference, show the effectiveness of ZeroGen.

Pre-trained language models have shown remarkable results on various NLP tasks. Nevertheless, due to their bulky size and slow inference speed, it is hard to deploy them on edge devices. In this paper, we have a critical insight that improving the feed-forward network (FFN) in BERT has a higher gain than improving the multi-head attention (MHA) since the computational cost of FFN is 2~3 times larger than MHA. Hence, to compact BERT, we are devoted to designing efficient FFN as opposed to previous works that pay attention to MHA. Since FFN comprises a multilayer perceptron (MLP) that is essential in BERT optimization, we further design a thorough search space towards an advanced MLP and perform a coarse-to-fine mechanism to search for an efficient BERT architecture. Moreover, to accelerate searching and enhance model transferability, we employ a novel warm-up knowledge distillation strategy at each search stage. Extensive experiments show our searched EfficientBERT is 6.9× smaller and 4.4× faster than BERT_BASE, and has competitive performances on GLUE and SQuAD Benchmarks. Concretely, EfficientBERT attains a 77.7 average score on GLUE test, 0.7 higher than MobileBERT_TINY, and achieves an 85.3/74.5 F1 score on SQuAD v1.1/v2.0 dev, 3.2/2.7 higher than TinyBERT₄ even without data augmentation. The code is released at https://github.com/cheneydon/efficient-bert.