Daily Papers

Large language models (LLMs) show remarkable capabilities across a variety of tasks. Despite the models only seeing text in training, several recent studies suggest that LLM representations implicitly capture aspects of the underlying grounded concepts. Here, we explore LLM representations of a particularly salient kind of grounded knowledge -- spatial relationships. We design natural-language navigation tasks and evaluate the ability of LLMs, in particular GPT-3.5-turbo, GPT-4, and Llama2 series models, to represent and reason about spatial structures. These tasks reveal substantial variability in LLM performance across different spatial structures, including square, hexagonal, and triangular grids, rings, and trees. In extensive error analysis, we find that LLMs' mistakes reflect both spatial and non-spatial factors. These findings suggest that LLMs appear to capture certain aspects of spatial structure implicitly, but room for improvement remains.

Recently emerged Vision-and-Language Navigation (VLN) tasks have drawn significant attention in both computer vision and natural language processing communities. Existing VLN tasks are built for agents that navigate on the ground, either indoors or outdoors. However, many tasks require intelligent agents to carry out in the sky, such as UAV-based goods delivery, traffic/security patrol, and scenery tour, to name a few. Navigating in the sky is more complicated than on the ground because agents need to consider the flying height and more complex spatial relationship reasoning. To fill this gap and facilitate research in this field, we propose a new task named AerialVLN, which is UAV-based and towards outdoor environments. We develop a 3D simulator rendered by near-realistic pictures of 25 city-level scenarios. Our simulator supports continuous navigation, environment extension and configuration. We also proposed an extended baseline model based on the widely-used cross-modal-alignment (CMA) navigation methods. We find that there is still a significant gap between the baseline model and human performance, which suggests AerialVLN is a new challenging task. Dataset and code is available at https://github.com/AirVLN/AirVLN.

Vision-language navigation (VLN), in which an agent follows language instruction in a visual environment, has been studied under the premise that the input command is fully feasible in the environment. Yet in practice, a request may not be possible due to language ambiguity or environment changes. To study VLN with unknown command feasibility, we introduce a new dataset Mobile app Tasks with Iterative Feedback (MoTIF), where the goal is to complete a natural language command in a mobile app. Mobile apps provide a scalable domain to study real downstream uses of VLN methods. Moreover, mobile app commands provide instruction for interactive navigation, as they result in action sequences with state changes via clicking, typing, or swiping. MoTIF is the first to include feasibility annotations, containing both binary feasibility labels and fine-grained labels for why tasks are unsatisfiable. We further collect follow-up questions for ambiguous queries to enable research on task uncertainty resolution. Equipped with our dataset, we propose the new problem of feasibility prediction, in which a natural language instruction and multimodal app environment are used to predict command feasibility. MoTIF provides a more realistic app dataset as it contains many diverse environments, high-level goals, and longer action sequences than prior work. We evaluate interactive VLN methods using MoTIF, quantify the generalization ability of current approaches to new app environments, and measure the effect of task feasibility on navigation performance.

Existing embodied instance goal navigation tasks, driven by natural language, assume human users to provide complete and nuanced instance descriptions prior to the navigation, which can be impractical in the real world as human instructions might be brief and ambiguous. To bridge this gap, we propose a new task, Collaborative Instance Navigation (CoIN), with dynamic agent-human interaction during navigation to actively resolve uncertainties about the target instance in natural, template-free, open-ended dialogues. To address CoIN, we propose a novel method, Agent-user Interaction with UncerTainty Awareness (AIUTA), leveraging the perception capability of Vision Language Models (VLMs) and the capability of Large Language Models (LLMs). First, upon object detection, a Self-Questioner model initiates a self-dialogue to obtain a complete and accurate observation description, while a novel uncertainty estimation technique mitigates inaccurate VLM perception. Then, an Interaction Trigger module determines whether to ask a question to the user, continue or halt navigation, minimizing user input. For evaluation, we introduce CoIN-Bench, a benchmark supporting both real and simulated humans. AIUTA achieves competitive performance in instance navigation against state-of-the-art methods, demonstrating great flexibility in handling user inputs.

Large language models (LLMs) have exhibited impressive performance in language comprehension and various reasoning tasks. However, their abilities in spatial reasoning, a crucial aspect of human cognition, remain relatively unexplored. Human possess a remarkable ability to create mental images of unseen objects and actions through a process known as the Mind's Eye, enabling the imagination of the unseen world. Inspired by this cognitive capacity, we propose Visualization-of-Thought (VoT) prompting. VoT aims to elicit spatial reasoning of LLMs by visualizing their reasoning traces, thereby guiding subsequent reasoning steps. We employed VoT for multi-hop spatial reasoning tasks, including natural language navigation, visual navigation, and visual tiling in 2D grid worlds. Experimental results demonstrated that VoT significantly enhances the spatial reasoning abilities of LLMs. Notably, VoT outperformed existing multimodal large language models (MLLMs) in these tasks. While VoT works surprisingly well on LLMs, the ability to generate mental images to facilitate spatial reasoning resembles the mind's eye process, suggesting its potential viability in MLLMs.

Data-driven navigation algorithms are critically dependent on large-scale, high-quality real-world data collection for successful training and robust performance in realistic and uncontrolled conditions. To enhance the growing family of navigation-related real-world datasets, we introduce EgoWalk - a dataset of 50 hours of human navigation in a diverse set of indoor/outdoor, varied seasons, and location environments. Along with the raw and Imitation Learning-ready data, we introduce several pipelines to automatically create subsidiary datasets for other navigation-related tasks, namely natural language goal annotations and traversability segmentation masks. Diversity studies, use cases, and benchmarks for the proposed dataset are provided to demonstrate its practical applicability. We openly release all data processing pipelines and the description of the hardware platform used for data collection to support future research and development in robot navigation systems.

A central challenge in reinforcement learning (RL) is its dependence on extensive real-world interaction data to learn task-specific policies. While recent work demonstrates that large language models (LLMs) can mitigate this limitation by generating synthetic experience (noted as imaginary rollouts) for mastering novel tasks, progress in this emerging field is hindered due to the lack of a standard benchmark. To bridge this gap, we introduce ImagineBench, the first comprehensive benchmark for evaluating offline RL algorithms that leverage both real rollouts and LLM-imaginary rollouts. The key features of ImagineBench include: (1) datasets comprising environment-collected and LLM-imaginary rollouts; (2) diverse domains of environments covering locomotion, robotic manipulation, and navigation tasks; and (3) natural language task instructions with varying complexity levels to facilitate language-conditioned policy learning. Through systematic evaluation of state-of-the-art offline RL algorithms, we observe that simply applying existing offline RL algorithms leads to suboptimal performance on unseen tasks, achieving 35.44% success rate in hard tasks in contrast to 64.37% of method training on real rollouts for hard tasks. This result highlights the need for algorithm advancements to better leverage LLM-imaginary rollouts. Additionally, we identify key opportunities for future research: including better utilization of imaginary rollouts, fast online adaptation and continual learning, and extension to multi-modal tasks. Our code is publicly available at https://github.com/LAMDA-RL/ImagineBench.

One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability to perform a wide variety of complex tasks in response to multifarious instructions from humans. In the hope that it might drive progress towards more flexible and powerful human interactions with robots, we propose a dataset of varied and complex robot tasks, described in natural language, in terms of objects visible in a large set of real images. Given an instruction, success requires navigating through a previously-unseen environment to identify an object. This represents a practical challenge, but one that closely reflects one of the core visual problems in robotics. Several state-of-the-art vision-and-language navigation, and referring-expression models are tested to verify the difficulty of this new task, but none of them show promising results because there are many fundamental differences between our task and previous ones. A novel Interactive Navigator-Pointer model is also proposed that provides a strong baseline on the task. The proposed model especially achieves the best performance on the unseen test split, but still leaves substantial room for improvement compared to the human performance.

This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is designed in the ROS architecture and aims to bridge the gap between humans and robots, enabling robots to comprehend and execute user-expressed text or voice commands. Our research encompasses a wide spectrum of robotic tasks, ranging from fundamental logical, mathematical, and learning reasoning for transferring knowledge in domains like navigation, manipulation, and object localization, enabling the application of learned behaviors from simulated environments to real-world operations. All encapsulated within a modular crafted robot library suite of API-wise control functions, RobotIQ offers a fully functional AI-ROS-based toolset that allows researchers to design and develop their own robotic actions tailored to specific applications and robot configurations. The effectiveness of the proposed system was tested and validated both in simulated and real-world experiments focusing on a home service scenario that included an assistive application designed for elderly people. RobotIQ with an open-source, easy-to-use, and adaptable robotic library suite for any robot can be found at https://github.com/emmarapt/RobotIQ.

AI assistants can now carry out tasks for users by directly interacting with website UIs. Current semantic parsing and slot-filling techniques cannot flexibly adapt to many different websites without being constantly re-trained. We propose FLIN, a natural language interface for web navigation that maps user commands to concept-level actions (rather than low-level UI actions), thus being able to flexibly adapt to different websites and handle their transient nature. We frame this as a ranking problem: given a user command and a webpage, FLIN learns to score the most relevant navigation instruction (involving action and parameter values). To train and evaluate FLIN, we collect a dataset using nine popular websites from three domains. Our results show that FLIN was able to adapt to new websites in a given domain.

Embodied navigation for long-horizon tasks, guided by complex natural language instructions, remains a formidable challenge in artificial intelligence. Existing agents often struggle with robust long-term planning about unseen environments, leading to high failure rates. To address these limitations, we introduce NavForesee, a novel Vision-Language Model (VLM) that unifies high-level language planning and predictive world model imagination within a single, unified framework. Our approach empowers a single VLM to concurrently perform planning and predictive foresight. Conditioned on the full instruction and historical observations, the model is trained to understand the navigation instructions by decomposing the task, tracking its progress, and formulating the subsequent sub-goal. Simultaneously, it functions as a generative world model, providing crucial foresight by predicting short-term environmental dynamics and long-term navigation milestones. The VLM's structured plan guides its targeted prediction, while the imagined future provides rich context to inform the navigation actions, creating a powerful internal feedback loop of perception-planning/prediction-action. We demonstrate through extensive experiments on the R2R-CE and RxR-CE benchmark that NavForesee achieves highly competitive performance in complex scenarios. Our work highlights the immense potential of fusing explicit language planning with implicit spatiotemporal prediction, paving the way for more intelligent and capable embodied agents.

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an image, this makes for an unnatural interface. Language provides a more convenient modality for communication with robots, but contemporary methods typically require expensive supervision, in the form of trajectories annotated with language descriptions. We present a system, LM-Nav, for robotic navigation that enjoys the benefits of training on unannotated large datasets of trajectories, while still providing a high-level interface to the user. Instead of utilizing a labeled instruction following dataset, we show that such a system can be constructed entirely out of pre-trained models for navigation (ViNG), image-language association (CLIP), and language modeling (GPT-3), without requiring any fine-tuning or language-annotated robot data. We instantiate LM-Nav on a real-world mobile robot and demonstrate long-horizon navigation through complex, outdoor environments from natural language instructions. For videos of our experiments, code release, and an interactive Colab notebook that runs in your browser, please check out our project page https://sites.google.com/view/lmnav

Mobile agents that can leverage help from humans can potentially accomplish more complex tasks than they could entirely on their own. We develop "Help, Anna!" (HANNA), an interactive photo-realistic simulator in which an agent fulfills object-finding tasks by requesting and interpreting natural language-and-vision assistance. An agent solving tasks in a HANNA environment can leverage simulated human assistants, called ANNA (Automatic Natural Navigation Assistants), which, upon request, provide natural language and visual instructions to direct the agent towards the goals. To address the HANNA problem, we develop a memory-augmented neural agent that hierarchically models multiple levels of decision-making, and an imitation learning algorithm that teaches the agent to avoid repeating past mistakes while simultaneously predicting its own chances of making future progress. Empirically, our approach is able to ask for help more effectively than competitive baselines and, thus, attains higher task success rate on both previously seen and previously unseen environments. We publicly release code and data at https://github.com/khanhptnk/hanna . A video demo is available at https://youtu.be/18P94aaaLKg .

Vision-and-Language Navigation (VLN) task aims to enable AI agents to accurately understand and follow natural language instructions to navigate through real-world environments, ultimately reaching specific target locations. We recognise a promising opportunity to extend VLN to a comparable navigation task that holds substantial significance in our daily lives, albeit within the virtual realm: navigating websites on the Internet. This paper proposes a new task named Vision-and-Language Navigation on Websites (WebVLN), where we use question-based instructions to train an agent, emulating how users naturally browse websites. Unlike the existing VLN task that only pays attention to vision and instruction (language), the WebVLN agent further considers underlying web-specific content like HTML, which could not be seen on the rendered web pages yet contains rich visual and textual information. Toward this goal, we contribute a dataset, WebVLN-v1, and introduce a novel approach called Website-aware VLN Network (WebVLN-Net), which is built upon the foundation of state-of-the-art VLN techniques. Experimental results show that WebVLN-Net outperforms current VLN and web-related navigation methods. We believe that the introduction of the new WebVLN task and its dataset will establish a new dimension within the VLN domain and contribute to the broader vision-and-language research community. The code is available at: https://github.com/WebVLN/WebVLN.

The Vision-and-Language Navigation (VLN) task requires an agent to follow natural language instructions and navigate through complex environments. Existing MLLM-based VLN methods primarily rely on imitation learning (IL) and often use DAgger for post-training to mitigate covariate shift. While effective, these approaches incur substantial data collection and training costs. Reinforcement learning (RL) offers a promising alternative. However, prior VLN RL methods lack dynamic interaction with the environment and depend on expert trajectories for reward shaping, rather than engaging in open-ended active exploration. This restricts the agent's ability to discover diverse and plausible navigation routes. To address these limitations, we propose ActiveVLN, a VLN framework that explicitly enables active exploration through multi-turn RL. In the first stage, a small fraction of expert trajectories is used for IL to bootstrap the agent. In the second stage, the agent iteratively predicts and executes actions, automatically collects diverse trajectories, and optimizes multiple rollouts via the GRPO objective. To further improve RL efficiency, we introduce a dynamic early-stopping strategy to prune long-tail or likely failed trajectories, along with additional engineering optimizations. Experiments show that ActiveVLN achieves the largest performance gains over IL baselines compared to both DAgger-based and prior RL-based post-training methods, while reaching competitive performance with state-of-the-art approaches despite using a smaller model. Code and data will be released soon.

This paper presents a novel approach for the Vision-and-Language Navigation (VLN) task in continuous 3D environments, which requires an autonomous agent to follow natural language instructions in unseen environments. Existing end-to-end learning-based VLN methods struggle at this task as they focus mostly on utilizing raw visual observations and lack the semantic spatio-temporal reasoning capabilities which is crucial in generalizing to new environments. In this regard, we present a hybrid transformer-recurrence model which focuses on combining classical semantic mapping techniques with a learning-based method. Our method creates a temporal semantic memory by building a top-down local ego-centric semantic map and performs cross-modal grounding to align map and language modalities to enable effective learning of VLN policy. Empirical results in a photo-realistic long-horizon simulation environment show that the proposed approach outperforms a variety of state-of-the-art methods and baselines with over 22% relative improvement in SPL in prior unseen environments.

We study the problem of jointly reasoning about language and vision through a navigation and spatial reasoning task. We introduce the Touchdown task and dataset, where an agent must first follow navigation instructions in a real-life visual urban environment, and then identify a location described in natural language to find a hidden object at the goal position. The data contains 9,326 examples of English instructions and spatial descriptions paired with demonstrations. Empirical analysis shows the data presents an open challenge to existing methods, and qualitative linguistic analysis shows that the data displays richer use of spatial reasoning compared to related resources.

Vision-Language Navigation (VLN) is a critical task for developing embodied agents that can follow natural language instructions to navigate in complex real-world environments. Recent advances in VLN by large pretrained models have significantly improved generalization and instruction grounding compared to traditional approaches. However, the role of reasoning strategies in navigation-an action-centric, long-horizon task-remains underexplored, despite Chain-of-Thought (CoT) reasoning's demonstrated success in static tasks like visual question answering. To address this gap, we conduct the first systematic evaluation of reasoning strategies for VLN, including No-Think (direct action prediction), Pre-Think (reason before action), and Post-Think (reason after action). Surprisingly, our findings reveal the Inference-time Reasoning Collapse issue, where inference-time reasoning degrades navigation accuracy, highlighting the challenges of integrating reasoning into VLN. Based on this insight, we propose Aux-Think, a framework that trains models to internalize structured reasoning patterns through CoT supervision, while inferring action directly without reasoning in online prediction. To support this framework, we release R2R-CoT-320k, the first Chain-of-Thought annotated dataset for VLN. Extensive experiments show that Aux-Think reduces training effort greatly and achieves the best performance under the same data scale.

Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large models (Video-VLMs) with strong generalization capabilities and rich commonsense knowledge have shown remarkable performance when applied to VLN tasks. However, these models still encounter the following challenges when applied to real-world 3D navigation: 1) Insufficient understanding of 3D geometry and spatial semantics; 2) Limited capacity for large-scale exploration and long-term environmental memory; 3) Poor adaptability to dynamic and changing environments.To address these limitations, we propose Dynam3D, a dynamic layered 3D representation model that leverages language-aligned, generalizable, and hierarchical 3D representations as visual input to train 3D-VLM in navigation action prediction. Given posed RGB-D images, our Dynam3D projects 2D CLIP features into 3D space and constructs multi-level 3D patch-instance-zone representations for 3D geometric and semantic understanding with a dynamic and layer-wise update strategy. Our Dynam3D is capable of online encoding and localization of 3D instances, and dynamically updates them in changing environments to provide large-scale exploration and long-term memory capabilities for navigation. By leveraging large-scale 3D-language pretraining and task-specific adaptation, our Dynam3D sets new state-of-the-art performance on VLN benchmarks including R2R-CE, REVERIE-CE and NavRAG-CE under monocular settings. Furthermore, experiments for pre-exploration, lifelong memory, and real-world robot validate the effectiveness of practical deployment.

Vision-and-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Traditional approaches rely heavily on historical observations as spatio-temporal contexts for decision making, leading to significant storage and computational overhead. In this paper, we introduce MapNav, a novel end-to-end VLN model that leverages Annotated Semantic Map (ASM) to replace historical frames. Specifically, our approach constructs a top-down semantic map at the start of each episode and update it at each timestep, allowing for precise object mapping and structured navigation information. Then, we enhance this map with explicit textual labels for key regions, transforming abstract semantics into clear navigation cues and generate our ASM. MapNav agent using the constructed ASM as input, and use the powerful end-to-end capabilities of VLM to empower VLN. Extensive experiments demonstrate that MapNav achieves state-of-the-art (SOTA) performance in both simulated and real-world environments, validating the effectiveness of our method. Moreover, we will release our ASM generation source code and dataset to ensure reproducibility, contributing valuable resources to the field. We believe that our proposed MapNav can be used as a new memory representation method in VLN, paving the way for future research in this field.

Deep Learning has revolutionized our ability to solve complex problems such as Vision-and-Language Navigation (VLN). This task requires the agent to navigate to a goal purely based on visual sensory inputs given natural language instructions. However, prior works formulate the problem as a navigation graph with a discrete action space. In this work, we lift the agent off the navigation graph and propose a more complex VLN setting in continuous 3D reconstructed environments. Our proposed setting, Robo-VLN, more closely mimics the challenges of real world navigation. Robo-VLN tasks have longer trajectory lengths, continuous action spaces, and challenges such as obstacles. We provide a suite of baselines inspired by state-of-the-art works in discrete VLN and show that they are less effective at this task. We further propose that decomposing the task into specialized high- and low-level policies can more effectively tackle this task. With extensive experiments, we show that by using layered decision making, modularized training, and decoupling reasoning and imitation, our proposed Hierarchical Cross-Modal (HCM) agent outperforms existing baselines in all key metrics and sets a new benchmark for Robo-VLN.

In this paper, we take the initiative to investigate the performance of LLMs on complex planning tasks that require LLMs to understand a virtual spatial environment simulated via natural language and act correspondingly in text. We propose a benchmark named Natural Language Planning and Action (Natala) composed of a set of novel tasks: Brick World, NLVR-based Manipulations, and Natural Language Navigation. We found that current popular LLMs such as ChatGPT still lack abilities in complex planning. This arises a question -- do the LLMs have a good understanding of the environments described in natural language, or maybe other alternatives such as symbolic representations are neater and hence better to be understood by LLMs? To this end, we propose a novel method called CoS (Chain-of-Symbol Prompting) that represents the complex environments with condensed symbolic spatial representations during the chained intermediate thinking steps. CoS is easy to use and does not need additional training on LLMs. Extensive experiments indicate that CoS clearly surpasses the performance of the Chain-of-Thought (CoT) Prompting in all three planning tasks with even fewer tokens used in the inputs compared with CoT on ChatGPT and InstructGPT. The performance gain is strong, by up to 60.8% accuracy (from 31.8% to 92.6%) on Brick World for ChatGPT. CoS also reduces the number of tokens in the prompt obviously, by up to 65.8% of the tokens (from 407 to 139) for the intermediate steps from demonstrations on Brick World. Code and data available at: https://github.com/hanxuhu/chain-of-symbol-planning

Recent advancements in language models have demonstrated remarkable improvements in various natural language processing (NLP) tasks such as web navigation. Supervised learning (SL) approaches have achieved impressive performance while utilizing significantly less training data compared to previous methods. However, these SL-based models fall short when compared to reinforcement learning (RL) approaches, which have shown superior results. In this paper, we propose a novel approach that combines SL and RL techniques over the MiniWoB benchmark to leverage the strengths of both methods. We also address a critical limitation in previous models' understanding of HTML content, revealing a tendency to memorize target elements rather than comprehend the underlying structure. To rectify this, we propose methods to enhance true understanding and present a new baseline of results. Our experiments demonstrate that our approach outperforms previous SL methods on certain tasks using less data and narrows the performance gap with RL models, achieving 43.58\% average accuracy in SL and 36.69\% when combined with a multimodal RL approach. This study sets a new direction for future web navigation and offers insights into the limitations and potential of language modeling for computer tasks.

Cross-view geo-localization identifies the locations of street-view images by matching them with geo-tagged satellite images or OSM. However, most existing studies focus on image-to-image retrieval, with fewer addressing text-guided retrieval, a task vital for applications like pedestrian navigation and emergency response. In this work, we introduce a novel task for cross-view geo-localization with natural language descriptions, which aims to retrieve corresponding satellite images or OSM database based on scene text descriptions. To support this task, we construct the CVG-Text dataset by collecting cross-view data from multiple cities and employing a scene text generation approach that leverages the annotation capabilities of Large Multimodal Models to produce high-quality scene text descriptions with localization details. Additionally, we propose a novel text-based retrieval localization method, CrossText2Loc, which improves recall by 10% and demonstrates excellent long-text retrieval capabilities. In terms of explainability, it not only provides similarity scores but also offers retrieval reasons. More information can be found at https://yejy53.github.io/CVG-Text/ .

Cross-modal drone navigation remains a challenging task in robotics, requiring efficient retrieval of relevant images from large-scale databases based on natural language descriptions. The RoboSense 2025 Track 4 challenge addresses this challenge, focusing on robust, natural language-guided cross-view image retrieval across multiple platforms (drones, satellites, and ground cameras). Current baseline methods, while effective for initial retrieval, often struggle to achieve fine-grained semantic matching between text queries and visual content, especially in complex aerial scenes. To address this challenge, we propose a two-stage retrieval refinement method: Caption-Guided Retrieval System (CGRS) that enhances the baseline coarse ranking through intelligent reranking. Our method first leverages a baseline model to obtain an initial coarse ranking of the top 20 most relevant images for each query. We then use Vision-Language-Model (VLM) to generate detailed captions for these candidate images, capturing rich semantic descriptions of their visual content. These generated captions are then used in a multimodal similarity computation framework to perform fine-grained reranking of the original text query, effectively building a semantic bridge between the visual content and natural language descriptions. Our approach significantly improves upon the baseline, achieving a consistent 5\% improvement across all key metrics (Recall@1, Recall@5, and Recall@10). Our approach win TOP-2 in the challenge, demonstrating the practical value of our semantic refinement strategy in real-world robotic navigation scenarios.

We propose a goal-driven web navigation as a benchmark task for evaluating an agent with abilities to understand natural language and plan on partially observed environments. In this challenging task, an agent navigates through a website, which is represented as a graph consisting of web pages as nodes and hyperlinks as directed edges, to find a web page in which a query appears. The agent is required to have sophisticated high-level reasoning based on natural languages and efficient sequential decision-making capability to succeed. We release a software tool, called WebNav, that automatically transforms a website into this goal-driven web navigation task, and as an example, we make WikiNav, a dataset constructed from the English Wikipedia. We extensively evaluate different variants of neural net based artificial agents on WikiNav and observe that the proposed goal-driven web navigation well reflects the advances in models, making it a suitable benchmark for evaluating future progress. Furthermore, we extend the WikiNav with question-answer pairs from Jeopardy! and test the proposed agent based on recurrent neural networks against strong inverted index based search engines. The artificial agents trained on WikiNav outperforms the engined based approaches, demonstrating the capability of the proposed goal-driven navigation as a good proxy for measuring the progress in real-world tasks such as focused crawling and question-answering.

LLMs have shown impressive progress in robotics (e.g., manipulation and navigation) with natural language task descriptions. The success of LLMs in these tasks leads us to wonder: What is the ability of LLMs to solve vehicle routing problems (VRPs) with natural language task descriptions? In this work, we study this question in three steps. First, we construct a dataset with 21 types of single- or multi-vehicle routing problems. Second, we evaluate the performance of LLMs across four basic prompt paradigms of text-to-code generation, each involving different types of text input. We find that the basic prompt paradigm, which generates code directly from natural language task descriptions, performs the best for GPT-4, achieving 56% feasibility, 40% optimality, and 53% efficiency. Third, based on the observation that LLMs may not be able to provide correct solutions at the initial attempt, we propose a framework that enables LLMs to refine solutions through self-reflection, including self-debugging and self-verification. With GPT-4, our proposed framework achieves a 16% increase in feasibility, a 7% increase in optimality, and a 15% increase in efficiency. Moreover, we examine the sensitivity of GPT-4 to task descriptions, specifically focusing on how its performance changes when certain details are omitted from the task descriptions, yet the core meaning is preserved. Our findings reveal that such omissions lead to a notable decrease in performance: 4% in feasibility, 4% in optimality, and 5% in efficiency. Website: https://sites.google.com/view/words-to-routes/

Unmanned Aerial Vehicles, operating in environments with relatively few obstacles, offer high maneuverability and full three-dimensional mobility. This allows them to rapidly approach objects and perform a wide range of tasks often challenging for ground robots, making them ideal for exploration, inspection, aerial imaging, and everyday assistance. In this paper, we introduce AirStar, a UAV-centric embodied platform that turns a UAV into an intelligent aerial assistant: a large language model acts as the cognitive core for environmental understanding, contextual reasoning, and task planning. AirStar accepts natural interaction through voice commands and gestures, removing the need for a remote controller and significantly broadening its user base. It combines geospatial knowledge-driven long-distance navigation with contextual reasoning for fine-grained short-range control, resulting in an efficient and accurate vision-and-language navigation (VLN) capability.Furthermore, the system also offers built-in capabilities such as cross-modal question answering, intelligent filming, and target tracking. With a highly extensible framework, it supports seamless integration of new functionalities, paving the way toward a general-purpose, instruction-driven intelligent UAV agent. The supplementary PPT is available at https://buaa-colalab.github.io/airstar.github.io{https://buaa-colalab.github.io/airstar.github.io}.

The web provides a rich, open-domain environment with textual, structural, and spatial properties. We propose a new task for grounding language in this environment: given a natural language command (e.g., "click on the second article"), choose the correct element on the web page (e.g., a hyperlink or text box). We collected a dataset of over 50,000 commands that capture various phenomena such as functional references (e.g. "find who made this site"), relational reasoning (e.g. "article by john"), and visual reasoning (e.g. "top-most article"). We also implemented and analyzed three baseline models that capture different phenomena present in the dataset.

This work explores the capacity of large language models (LLMs) to address problems at the intersection of spatial planning and natural language interfaces for navigation.Our focus is on following relatively complex instructions that are more akin to natural conversation than traditional explicit procedural directives seen in robotics. Unlike most prior work, where navigation directives are provided as imperative commands (e.g., go to the fridge), we examine implicit directives within conversational interactions. We leverage the 3D simulator AI2Thor to create complex and repeatable scenarios at scale, and augment it by adding complex language queries for 40 object types. We demonstrate that a robot can better parse descriptive language queries than existing methods by using an LLM to interpret the user interaction in the context of a list of the objects in the scene.

In most existing embodied navigation tasks, instructions are well-defined and unambiguous, such as instruction following and object searching. Under this idealized setting, agents are required solely to produce effective navigation outputs conditioned on vision and language inputs. However, real-world navigation instructions are often vague and ambiguous, requiring the agent to resolve uncertainty and infer user intent through active dialog. To address this gap, we propose Interactive Instance Object Navigation (IION), a task that requires agents not only to generate navigation actions but also to produce language outputs via active dialog, thereby aligning more closely with practical settings. IION extends Instance Object Navigation (ION) by allowing agents to freely consult an oracle in natural language while navigating. Building on this task, we present the Vision Language-Language Navigation (VL-LN) benchmark, which provides a large-scale, automatically generated dataset and a comprehensive evaluation protocol for training and assessing dialog-enabled navigation models. VL-LN comprises over 41k long-horizon dialog-augmented trajectories for training and an automatic evaluation protocol with an oracle capable of responding to agent queries. Using this benchmark, we train a navigation model equipped with dialog capabilities and show that it achieves significant improvements over the baselines. Extensive experiments and analyses further demonstrate the effectiveness and reliability of VL-LN for advancing research on dialog-enabled embodied navigation. Code and dataset: https://0309hws.github.io/VL-LN.github.io/

The recent advances in the development of Large Language Models (LLMs) like ChatGPT have achieved remarkable performance by leveraging human expertise. Yet, fully eliciting LLMs' potential for complex tasks requires navigating the vast search space of natural language prompts. While prompt engineering has shown promise, the requisite human-crafted prompts in trial-and-error attempts and the associated costs pose significant challenges. Crucially, the efficiency of prompt optimization hinges on the costly procedure of prompt evaluation. This work introduces Prompt-OIRL, an approach rooted in offline inverse reinforcement learning that seeks to bridge the gap between effective prompt evaluation and affordability. Our method draws on offline datasets from expert evaluations, employing Inverse-RL to derive a reward model for offline, query-dependent prompt evaluations. The advantages of Prompt-OIRL are manifold: it predicts prompt performance, is cost-efficient, produces human-readable results, and efficiently navigates the prompt space. We validate our method across four LLMs and three arithmetic datasets, highlighting its potential as a robust and effective tool for offline prompt evaluation and optimization. Our code as well as the offline datasets are released, and we highlight the Prompt-OIRL can be reproduced within a few hours using a single laptop using CPU

Recent progress in Large Language Models (LLMs) has produced models that exhibit remarkable performance across a variety of NLP tasks. However, it remains unclear whether the existing focus of NLP research accurately captures the genuine requirements of human users. This paper provides a comprehensive analysis of the divergence between current NLP research and the needs of real-world NLP applications via a large-scale collection of user-GPT conversations. We analyze a large-scale collection of real user queries to GPT. We compare these queries against existing NLP benchmark tasks and identify a significant gap between the tasks that users frequently request from LLMs and the tasks that are commonly studied in academic research. For example, we find that tasks such as ``design'' and ``planning'' are prevalent in user interactions but are largely neglected or different from traditional NLP benchmarks. We investigate these overlooked tasks, dissect the practical challenges they pose, and provide insights toward a roadmap to make LLMs better aligned with user needs.

In recent years, the rapid advancement of Large Language Models (LLMs) such as the Generative Pre-trained Transformer (GPT) has attracted increasing attention due to their potential in a variety of practical applications. The application of LLMs with Embodied Intelligence has emerged as a significant area of focus. Among the myriad applications of LLMs, navigation tasks are particularly noteworthy because they demand a deep understanding of the environment and quick, accurate decision-making. LLMs can augment embodied intelligence systems with sophisticated environmental perception and decision-making support, leveraging their robust language and image-processing capabilities. This article offers an exhaustive summary of the symbiosis between LLMs and embodied intelligence with a focus on navigation. It reviews state-of-the-art models, research methodologies, and assesses the advantages and disadvantages of existing embodied navigation models and datasets. Finally, the article elucidates the role of LLMs in embodied intelligence, based on current research, and forecasts future directions in the field. A comprehensive list of studies in this survey is available at https://github.com/Rongtao-Xu/Awesome-LLM-EN

In this work, we propose a modular approach for the Vision-Language Navigation (VLN) task by decomposing the problem into four sub-modules that use state-of-the-art Large Language Models (LLMs) and Vision-Language Models (VLMs) in a zero-shot setting. Given navigation instruction in natural language, we first prompt LLM to extract the landmarks and the order in which they are visited. Assuming the known model of the environment, we retrieve the top-k locations of the last landmark and generate k path hypotheses from the starting location to the last landmark using the shortest path algorithm on the topological map of the environment. Each path hypothesis is represented by a sequence of panoramas. We then use dynamic programming to compute the alignment score between the sequence of panoramas and the sequence of landmark names, which match scores obtained from VLM. Finally, we compute the nDTW metric between the hypothesis that yields the highest alignment score to evaluate the path fidelity. We demonstrate superior performance compared to other approaches that use joint semantic maps like VLMaps vlmaps on the complex R2R-Habitat r2r instruction dataset and quantify in detail the effect of visual grounding on navigation performance.

We explore the use of language as a perceptual representation for vision-and-language navigation. Our approach uses off-the-shelf vision systems (for image captioning and object detection) to convert an agent's egocentric panoramic view at each time step into natural language descriptions. We then finetune a pretrained language model to select an action, based on the current view and the trajectory history, that would best fulfill the navigation instructions. In contrast to the standard setup which adapts a pretrained language model to work directly with continuous visual features from pretrained vision models, our approach instead uses (discrete) language as the perceptual representation. We explore two use cases of our language-based navigation (LangNav) approach on the R2R vision-and-language navigation benchmark: generating synthetic trajectories from a prompted large language model (GPT-4) with which to finetune a smaller language model; and sim-to-real transfer where we transfer a policy learned on a simulated environment (ALFRED) to a real-world environment (R2R). Our approach is found to improve upon strong baselines that rely on visual features in settings where only a few gold trajectories (10-100) are available, demonstrating the potential of using language as a perceptual representation for navigation tasks.

Despite the critical need to align search targets with users' intention, retrievers often only prioritize query information without delving into the users' intended search context. Enhancing the capability of retrievers to understand intentions and preferences of users, akin to language model instructions, has the potential to yield more aligned search targets. Prior studies restrict the application of instructions in information retrieval to a task description format, neglecting the broader context of diverse and evolving search scenarios. Furthermore, the prevailing benchmarks utilized for evaluation lack explicit tailoring to assess instruction-following ability, thereby hindering progress in this field. In response to these limitations, we propose a novel benchmark,INSTRUCTIR, specifically designed to evaluate instruction-following ability in information retrieval tasks. Our approach focuses on user-aligned instructions tailored to each query instance, reflecting the diverse characteristics inherent in real-world search scenarios. Through experimental analysis, we observe that retrievers fine-tuned to follow task-style instructions, such as INSTRUCTOR, can underperform compared to their non-instruction-tuned counterparts. This underscores potential overfitting issues inherent in constructing retrievers trained on existing instruction-aware retrieval datasets.

The academic field of learning instruction-guided visual navigation can be generally categorized into high-level category-specific search and low-level language-guided navigation, depending on the granularity of language instruction, in which the former emphasizes the exploration process, while the latter concentrates on following detailed textual commands. Despite the differing focuses of these tasks, the underlying requirements of interpreting instructions, comprehending the surroundings, and inferring action decisions remain consistent. This paper consolidates diverse navigation tasks into a unified and generic framework -- we investigate the core difficulties of sharing general knowledge and exploiting task-specific capabilities in learning navigation and propose a novel State-Adaptive Mixture of Experts (SAME) model that effectively enables an agent to infer decisions based on different-granularity language and dynamic observations. Powered by SAME, we present a versatile agent capable of addressing seven navigation tasks simultaneously that outperforms or achieves highly comparable performance to task-specific agents.

The advent of large language models (LLMs) has enabled significant performance gains in the field of natural language processing. However, recent studies have found that LLMs often resort to shortcuts when performing tasks, creating an illusion of enhanced performance while lacking generalizability in their decision rules. This phenomenon introduces challenges in accurately assessing natural language understanding in LLMs. Our paper provides a concise survey of relevant research in this area and puts forth a perspective on the implications of shortcut learning in the evaluation of language models, specifically for NLU tasks. This paper urges more research efforts to be put towards deepening our comprehension of shortcut learning, contributing to the development of more robust language models, and raising the standards of NLU evaluation in real-world scenarios.

Formulating selective information needs results in queries that implicitly specify set operations, such as intersection, union, and difference. For instance, one might search for "shorebirds that are not sandpipers" or "science-fiction films shot in England". To study the ability of retrieval systems to meet such information needs, we construct QUEST, a dataset of 3357 natural language queries with implicit set operations, that map to a set of entities corresponding to Wikipedia documents. The dataset challenges models to match multiple constraints mentioned in queries with corresponding evidence in documents and correctly perform various set operations. The dataset is constructed semi-automatically using Wikipedia category names. Queries are automatically composed from individual categories, then paraphrased and further validated for naturalness and fluency by crowdworkers. Crowdworkers also assess the relevance of entities based on their documents and highlight attribution of query constraints to spans of document text. We analyze several modern retrieval systems, finding that they often struggle on such queries. Queries involving negation and conjunction are particularly challenging and systems are further challenged with combinations of these operations.

Graphical user interfaces (GUI) automation agents are emerging as powerful tools, enabling humans to accomplish increasingly complex tasks on smart devices. However, users often inadvertently omit key information when conveying tasks, which hinders agent performance in the current agent paradigm that does not support immediate user intervention. To address this issue, we introduce a Self-Correction GUI Navigation task that incorporates interactive information completion capabilities within GUI agents. We developed the Navi-plus dataset with GUI follow-up question-answer pairs, alongside a Dual-Stream Trajectory Evaluation method to benchmark this new capability. Our results show that agents equipped with the ability to ask GUI follow-up questions can fully recover their performance when faced with ambiguous user tasks.

While large language models have demonstrated impressive capabilities in web navigation tasks, the extensive context of web pages, often represented as DOM or Accessibility Tree (AxTree) structures, frequently exceeds model context limits. Current approaches like bottom-up truncation or embedding-based retrieval lose critical information about page state and action history. This is particularly problematic for adaptive planning in web agents, where understanding the current state is essential for determining future actions. We hypothesize that embedding models lack sufficient capacity to capture plan-relevant information, especially when retrieving content that supports future action prediction. This raises a fundamental question: how can retrieval methods be optimized for adaptive planning in web navigation tasks? In response, we introduce LineRetriever, a novel approach that leverages a language model to identify and retrieve observation lines most relevant to future navigation steps. Unlike traditional retrieval methods that focus solely on semantic similarity, LineRetriever explicitly considers the planning horizon, prioritizing elements that contribute to action prediction. Our experiments demonstrate that LineRetriever can reduce the size of the observation at each step for the web agent while maintaining consistent performance within the context limitations.

In this work, we aim to connect two research areas: instruction models and retrieval-based models. While instruction-tuned Large Language Models (LLMs) excel at extracting information from text, they are not suitable for semantic retrieval. Similarity search over embedding vectors allows to index and query vectors, but the similarity reflected in the embedding is sub-optimal for many use cases. We identify the task of retrieving sentences based on abstract descriptions of their content. We demonstrate the inadequacy of current text embeddings and propose an alternative model that significantly improves when used in standard nearest neighbor search. The model is trained using positive and negative pairs sourced through prompting an a large language model (LLM). While it is easy to source the training material from an LLM, the retrieval task cannot be performed by the LLM directly. This demonstrates that data from LLMs can be used not only for distilling more efficient specialized models than the original LLM, but also for creating new capabilities not immediately possible using the original model.

Large language models (LLMs) are capable of generating multiple responses to a single prompt, yet little effort has been expended to help end-users or system designers make use of this capability. In this paper, we explore how to present many LLM responses at once. We design five features, which include both pre-existing and novel methods for computing similarities and differences across textual documents, as well as how to render their outputs. We report on a controlled user study (n=24) and eight case studies evaluating these features and how they support users in different tasks. We find that the features support a wide variety of sensemaking tasks and even make tasks previously considered to be too difficult by our participants now tractable. Finally, we present design guidelines to inform future explorations of new LLM interfaces.

We study the task of zero-shot vision-and-language navigation (ZS-VLN), a practical yet challenging problem in which an agent learns to navigate following a path described by language instructions without requiring any path-instruction annotation data. Normally, the instructions have complex grammatical structures and often contain various action descriptions (e.g., "proceed beyond", "depart from"). How to correctly understand and execute these action demands is a critical problem, and the absence of annotated data makes it even more challenging. Note that a well-educated human being can easily understand path instructions without the need for any special training. In this paper, we propose an action-aware zero-shot VLN method (A^2Nav) by exploiting the vision-and-language ability of foundation models. Specifically, the proposed method consists of an instruction parser and an action-aware navigation policy. The instruction parser utilizes the advanced reasoning ability of large language models (e.g., GPT-3) to decompose complex navigation instructions into a sequence of action-specific object navigation sub-tasks. Each sub-task requires the agent to localize the object and navigate to a specific goal position according to the associated action demand. To accomplish these sub-tasks, an action-aware navigation policy is learned from freely collected action-specific datasets that reveal distinct characteristics of each action demand. We use the learned navigation policy for executing sub-tasks sequentially to follow the navigation instruction. Extensive experiments show A^2Nav achieves promising ZS-VLN performance and even surpasses the supervised learning methods on R2R-Habitat and RxR-Habitat datasets.

Natural Language Search (NLS) extends the capabilities of search engines that perform keyword search allowing users to issue queries in a more "natural" language. The engine tries to understand the meaning of the queries and to map the query words to the symbols it supports like Persons, Organizations, Time Expressions etc.. It, then, retrieves the information that satisfies the user's need in different forms like an answer, a record or a list of records. We present an NLS system we implemented as part of the Search service of a major CRM platform. The system is currently in production serving thousands of customers. Our user studies showed that creating dynamic reports with NLS saved more than 50% of our user's time compared to achieving the same result with navigational search. We describe the architecture of the system, the particularities of the CRM domain as well as how they have influenced our design decisions. Among several submodules of the system we detail the role of a Deep Learning Named Entity Recognizer. The paper concludes with discussion over the lessons learned while developing this product.

In many real-world applications, users rely on natural language instructions to guide large language models (LLMs) across a wide range of tasks. These instructions are often complex, diverse, and subject to frequent change. However, LLMs do not always attend to these instructions reliably, and users lack simple mechanisms to emphasize their importance beyond modifying prompt wording or structure. To address this, we present an inference-time method that enables users to emphasize specific parts of their prompt by steering the model's attention toward them, aligning the model's perceived importance of different prompt tokens with user intent. Unlike prior approaches that are limited to static instructions, require significant offline profiling, or rely on fixed biases, we dynamically update the proportion of model attention given to the user-specified parts--ensuring improved instruction following without performance degradation. We demonstrate that our approach improves instruction following across a variety of tasks involving multiple instructions and generalizes across models of varying scales.

Building a generalist agent that can interact with the world is the intriguing target of AI systems, thus spurring the research for embodied navigation, where an agent is required to navigate according to instructions or respond to queries. Despite the major progress attained, previous works primarily focus on task-specific agents and lack generalizability to unseen scenarios. Recently, LLMs have presented remarkable capabilities across various fields, and provided a promising opportunity for embodied navigation. Drawing on this, we propose the first generalist model for embodied navigation, NaviLLM. It adapts LLMs to embodied navigation by introducing schema-based instruction. The schema-based instruction flexibly casts various tasks into generation problems, thereby unifying a wide range of tasks. This approach allows us to integrate diverse data sources from various datasets into the training, equipping NaviLLM with a wide range of capabilities required by embodied navigation. We conduct extensive experiments to evaluate the performance and generalizability of our model. The experimental results demonstrate that our unified model achieves state-of-the-art performance on CVDN, SOON, and ScanQA. Specifically, it surpasses the previous stats-of-the-art method by a significant margin of 29% in goal progress on CVDN. Moreover, our model also demonstrates strong generalizability and presents impressive results on unseen tasks, e.g., embodied question answering and 3D captioning.

We introduce "Talk The Walk", the first large-scale dialogue dataset grounded in action and perception. The task involves two agents (a "guide" and a "tourist") that communicate via natural language in order to achieve a common goal: having the tourist navigate to a given target location. The task and dataset, which are described in detail, are challenging and their full solution is an open problem that we pose to the community. We (i) focus on the task of tourist localization and develop the novel Masked Attention for Spatial Convolutions (MASC) mechanism that allows for grounding tourist utterances into the guide's map, (ii) show it yields significant improvements for both emergent and natural language communication, and (iii) using this method, we establish non-trivial baselines on the full task.

The exponential growth of scientific literature necessitates advanced tools for effective knowledge exploration. We present Knowledge Navigator, a system designed to enhance exploratory search abilities by organizing and structuring the retrieved documents from broad topical queries into a navigable, two-level hierarchy of named and descriptive scientific topics and subtopics. This structured organization provides an overall view of the research themes in a domain, while also enabling iterative search and deeper knowledge discovery within specific subtopics by allowing users to refine their focus and retrieve additional relevant documents. Knowledge Navigator combines LLM capabilities with cluster-based methods to enable an effective browsing method. We demonstrate our approach's effectiveness through automatic and manual evaluations on two novel benchmarks, CLUSTREC-COVID and SCITOC. Our code, prompts, and benchmarks are made publicly available.

Incorporating domain-specific priors in search and navigation tasks has shown promising results in improving generalization and sample complexity over end-to-end trained policies. In this work, we study how object embeddings that capture spatial semantic priors can guide search and navigation tasks in a structured environment. We know that humans can search for an object like a book, or a plate in an unseen house, based on the spatial semantics of bigger objects detected. For example, a book is likely to be on a bookshelf or a table, whereas a plate is likely to be in a cupboard or dishwasher. We propose a method to incorporate such spatial semantic awareness in robots by leveraging pre-trained language models and multi-relational knowledge bases as object embeddings. We demonstrate using these object embeddings to search a query object in an unseen indoor environment. We measure the performance of these embeddings in an indoor simulator (AI2Thor). We further evaluate different pre-trained embedding onSuccess Rate(SR) and success weighted by Path Length(SPL).

We propose the problem of conversational web navigation, where a digital agent controls a web browser and follows user instructions to solve real-world tasks in a multi-turn dialogue fashion. To support this problem, we introduce WEBLINX - a large-scale benchmark of 100K interactions across 2300 expert demonstrations of conversational web navigation. Our benchmark covers a broad range of patterns on over 150 real-world websites and can be used to train and evaluate agents in diverse scenarios. Due to the magnitude of information present, Large Language Models (LLMs) cannot process entire web pages in real-time. To solve this bottleneck, we design a retrieval-inspired model that efficiently prunes HTML pages by ranking relevant elements. We use the selected elements, along with screenshots and action history, to assess a variety of models for their ability to replicate human behavior when navigating the web. Our experiments span from small text-only to proprietary multimodal LLMs. We find that smaller finetuned decoders surpass the best zero-shot LLMs (including GPT-4V), but also larger finetuned multimodal models which were explicitly pretrained on screenshots. However, all finetuned models struggle to generalize to unseen websites. Our findings highlight the need for large multimodal models that can generalize to novel settings. Our code, data and models are available for research: https://mcgill-nlp.github.io/weblinx

This paper contains what the Georgetown InfoSense group has done in regard to solving the challenges presented by TREC iKAT 2023. Our submitted runs outperform the median runs by a significant margin, exhibiting superior performance in nDCG across various cut numbers and in overall success rate. Our approach uses a Generate-Retrieve-Generate method, which we've found to greatly outpace Retrieve-Then-Generate approaches for the purposes of iKAT. Our solution involves the use of Large Language Models (LLMs) for initial answers, answer grounding by BM25, passage quality filtering by logistic regression, and answer generation by LLMs again. We leverage several purpose-built Language Models, including BERT, Chat-based, and text-to-transfer-based models, for text understanding, classification, generation, and summarization. The official results of the TREC evaluation contradict our initial self-evaluation, which may suggest that a decrease in the reliance on our retrieval and classification methods is better. Nonetheless, our findings suggest that the sequence of involving these different components matters, where we see an essentiality of using LLMs before using search engines.

Neural networks -- especially those that use large, pre-trained language models -- have improved search engines in various ways. Most prominently, they can estimate the relevance of a passage or document to a user's query. In this work, we depart from this direction by exploring whether neural networks can effectively predict which of a document's passages are unlikely to be relevant to any query submitted to the search engine. We refer to this query-agnostic estimation of passage relevance as a passage's quality. We find that our novel methods for estimating passage quality allow passage corpora to be pruned considerably while maintaining statistically equivalent effectiveness; our best methods can consistently prune >25% of passages in a corpora, across various retrieval pipelines. Such substantial pruning reduces the operating costs of neural search engines in terms of computing resources, power usage, and carbon footprint -- both when processing queries (thanks to a smaller index size) and when indexing (lightweight models can prune low-quality passages prior to the costly dense or learned sparse encoding step). This work sets the stage for developing more advanced neural "learning-what-to-index" methods.

Conversational interfaces provide a flexible and easy way for users to seek information that may otherwise be difficult or inconvenient to obtain. However, existing interfaces generally fall into one of two categories: FAQs, where users must have a concrete question in order to retrieve a general answer, or dialogs, where users must follow a predefined path but may receive a personalized answer. In this paper, we introduce Conversational Tree Search (CTS) as a new task that bridges the gap between FAQ-style information retrieval and task-oriented dialog, allowing domain-experts to define dialog trees which can then be converted to an efficient dialog policy that learns only to ask the questions necessary to navigate a user to their goal. We collect a dataset for the travel reimbursement domain and demonstrate a baseline as well as a novel deep Reinforcement Learning architecture for this task. Our results show that the new architecture combines the positive aspects of both the FAQ and dialog system used in the baseline and achieves higher goal completion while skipping unnecessary questions.

Humans can learn to operate the user interface (UI) of an application by reading an instruction manual or how-to guide. Along with text, these resources include visual content such as UI screenshots and images of application icons referenced in the text. We explore how to leverage this data to learn generic visio-linguistic representations of UI screens and their components. These representations are useful in many real applications, such as accessibility, voice navigation, and task automation. Prior UI representation models rely on UI metadata (UI trees and accessibility labels), which is often missing, incompletely defined, or not accessible. We avoid such a dependency, and propose Lexi, a pre-trained vision and language model designed to handle the unique features of UI screens, including their text richness and context sensitivity. To train Lexi we curate the UICaption dataset consisting of 114k UI images paired with descriptions of their functionality. We evaluate Lexi on four tasks: UI action entailment, instruction-based UI image retrieval, grounding referring expressions, and UI entity recognition.

A machine learning system can score well on a given test set by relying on heuristics that are effective for frequent example types but break down in more challenging cases. We study this issue within natural language inference (NLI), the task of determining whether one sentence entails another. We hypothesize that statistical NLI models may adopt three fallible syntactic heuristics: the lexical overlap heuristic, the subsequence heuristic, and the constituent heuristic. To determine whether models have adopted these heuristics, we introduce a controlled evaluation set called HANS (Heuristic Analysis for NLI Systems), which contains many examples where the heuristics fail. We find that models trained on MNLI, including BERT, a state-of-the-art model, perform very poorly on HANS, suggesting that they have indeed adopted these heuristics. We conclude that there is substantial room for improvement in NLI systems, and that the HANS dataset can motivate and measure progress in this area

Enabling a computer to understand a document so that it can answer comprehension questions is a central, yet unsolved goal of NLP. A key factor impeding its solution by machine learned systems is the limited availability of human-annotated data. Hermann et al. (2015) seek to solve this problem by creating over a million training examples by pairing CNN and Daily Mail news articles with their summarized bullet points, and show that a neural network can then be trained to give good performance on this task. In this paper, we conduct a thorough examination of this new reading comprehension task. Our primary aim is to understand what depth of language understanding is required to do well on this task. We approach this from one side by doing a careful hand-analysis of a small subset of the problems and from the other by showing that simple, carefully designed systems can obtain accuracies of 73.6% and 76.6% on these two datasets, exceeding current state-of-the-art results by 7-10% and approaching what we believe is the ceiling for performance on this task.

Despite their remarkable natural language understanding capabilities, Large Language Models (LLMs) have been underutilized for retrieval tasks. We present Search-R3, a novel framework that addresses this limitation by adapting LLMs to generate search embeddings as a direct output of their reasoning process. Our approach exploits LLMs' chain-of-thought capabilities, allowing them to produce more effective embeddings by reasoning step-by-step through complex semantic analyses. We implement this through three complementary mechanisms. (1) a supervised learning stage enables the model's ability to produce quality embeddings, (2) a reinforcement learning (RL) methodology that optimizes embedding generation alongside reasoning, and (3) a specialized RL environment that efficiently handles evolving embedding representations without requiring complete corpus re-encoding at each training iteration. Our extensive evaluations on diverse benchmarks demonstrate that Search-R3 significantly outperforms prior methods by unifying the reasoning and embedding generation processes. This integrated post-training approach represents a substantial advancement in handling complex knowledge-intensive tasks that require both sophisticated reasoning and effective information retrieval. Project page: https://github.com/ytgui/Search-R3

We investigate the exploitation of both lexical and neural relevance signals for ad-hoc passage retrieval. Our exploration involves a large-scale training dataset in which dense neural representations of MS-MARCO queries and passages are complemented and integrated with 253 hand-crafted lexical features extracted from the same corpus. Blending of the relevance signals from the two different groups of features is learned by a classical Learning-to-Rank (LTR) model based on a forest of decision trees. To evaluate our solution, we employ a pipelined architecture where a dense neural retriever serves as the first stage and performs a nearest-neighbor search over the neural representations of the documents. Our LTR model acts instead as the second stage that re-ranks the set of candidates retrieved by the first stage to enhance effectiveness. The results of reproducible experiments conducted with state-of-the-art dense retrievers on publicly available resources show that the proposed solution significantly enhances the end-to-end ranking performance while relatively minimally impacting efficiency. Specifically, we achieve a boost in nDCG@10 of up to 11% with an increase in average query latency of only 4.3%. This confirms the advantage of seamlessly combining two distinct families of signals that mutually contribute to retrieval effectiveness.

Large language models (LLMs) have demonstrated impressive capabilities in various natural language processing tasks. Despite this, their application to information retrieval (IR) tasks is still challenging due to the infrequent occurrence of many IR-specific concepts in natural language. While prompt-based methods can provide task descriptions to LLMs, they often fall short in facilitating comprehensive understanding and execution of IR tasks, thereby limiting LLMs' applicability. To address this gap, in this work, we explore the potential of instruction tuning to enhance LLMs' proficiency in IR tasks. We introduce a novel instruction tuning dataset, INTERS, encompassing 21 tasks across three fundamental IR categories: query understanding, document understanding, and query-document relationship understanding. The data are derived from 43 distinct datasets with manually written templates. Our empirical results reveal that INTERS significantly boosts the performance of various publicly available LLMs, such as LLaMA, Mistral, and Phi, in search-related tasks. Furthermore, we conduct a comprehensive analysis to ascertain the effects of base model selection, instruction design, volume of instructions, and task variety on performance. We make our dataset and the models fine-tuned on it publicly accessible at https://github.com/DaoD/INTERS.

When asked, current large language models (LLMs) like ChatGPT claim that they can assist us with relevance judgments. Many researchers think this would not lead to credible IR research. In this perspective paper, we discuss possible ways for LLMs to assist human experts along with concerns and issues that arise. We devise a human-machine collaboration spectrum that allows categorizing different relevance judgment strategies, based on how much the human relies on the machine. For the extreme point of "fully automated assessment", we further include a pilot experiment on whether LLM-based relevance judgments correlate with judgments from trained human assessors. We conclude the paper by providing two opposing perspectives - for and against the use of LLMs for automatic relevance judgments - and a compromise perspective, informed by our analyses of the literature, our preliminary experimental evidence, and our experience as IR researchers. We hope to start a constructive discussion within the community to avoid a stale-mate during review, where work is dammed if is uses LLMs for evaluation and dammed if it doesn't.

As a primary means of information acquisition, information retrieval (IR) systems, such as search engines, have integrated themselves into our daily lives. These systems also serve as components of dialogue, question-answering, and recommender systems. The trajectory of IR has evolved dynamically from its origins in term-based methods to its integration with advanced neural models. While the neural models excel at capturing complex contextual signals and semantic nuances, thereby reshaping the IR landscape, they still face challenges such as data scarcity, interpretability, and the generation of contextually plausible yet potentially inaccurate responses. This evolution requires a combination of both traditional methods (such as term-based sparse retrieval methods with rapid response) and modern neural architectures (such as language models with powerful language understanding capacity). Meanwhile, the emergence of large language models (LLMs), typified by ChatGPT and GPT-4, has revolutionized natural language processing due to their remarkable language understanding, generation, generalization, and reasoning abilities. Consequently, recent research has sought to leverage LLMs to improve IR systems. Given the rapid evolution of this research trajectory, it is necessary to consolidate existing methodologies and provide nuanced insights through a comprehensive overview. In this survey, we delve into the confluence of LLMs and IR systems, including crucial aspects such as query rewriters, retrievers, rerankers, and readers. Additionally, we explore promising directions within this expanding field.

Conversational passage retrieval is challenging as it often requires the resolution of references to previous utterances and needs to deal with the complexities of natural language, such as coreference and ellipsis. To address these challenges, pre-trained sequence-to-sequence neural query rewriters are commonly used to generate a single de-contextualized query based on conversation history. Previous research shows that combining multiple query rewrites for the same user utterance has a positive effect on retrieval performance. We propose the use of a neural query rewriter to generate multiple queries and show how to integrate those queries in the passage retrieval pipeline efficiently. The main strength of our approach lies in its simplicity: it leverages how the beam search algorithm works and can produce multiple query rewrites at no additional cost. Our contributions further include devising ways to utilize multi-query rewrites in both sparse and dense first-pass retrieval. We demonstrate that applying our approach on top of a standard passage retrieval pipeline delivers state-of-the-art performance without sacrificing efficiency.

Typically, machine learning systems solve new tasks by training on thousands of examples. In contrast, humans can solve new tasks by reading some instructions, with perhaps an example or two. To take a step toward closing this gap, we introduce a framework for developing NLP systems that solve new tasks after reading their descriptions, synthesizing prior work in this area. We instantiate this framework with a new English language dataset, ZEST, structured for task-oriented evaluation on unseen tasks. Formulating task descriptions as questions, we ensure each is general enough to apply to many possible inputs, thus comprehensively evaluating a model's ability to solve each task. Moreover, the dataset's structure tests specific types of systematic generalization. We find that the state-of-the-art T5 model achieves a score of 12% on ZEST, leaving a significant challenge for NLP researchers.

When reading, we often have specific information that interests us in a text. For example, you might be reading this paper because you are curious about LLMs for eye movements in reading, the experimental design, or perhaps you only care about the question ``but does it work?''. More broadly, in daily life, people approach texts with any number of text-specific goals that guide their reading behavior. In this work, we ask, for the first time, whether open-ended reading goals can be automatically decoded from eye movements in reading. To address this question, we introduce goal classification and goal reconstruction tasks and evaluation frameworks, and use large-scale eye tracking for reading data in English with hundreds of text-specific information seeking tasks. We develop and compare several discriminative and generative multimodal LLMs that combine eye movements and text for goal classification and goal reconstruction. Our experiments show considerable success on both tasks, suggesting that LLMs can extract valuable information about the readers' text-specific goals from eye movements.

Many recent approaches towards neural information retrieval mitigate their computational costs by using a multi-stage ranking pipeline. In the first stage, a number of potentially relevant candidates are retrieved using an efficient retrieval model such as BM25. Although BM25 has proven decent performance as a first-stage ranker, it tends to miss relevant passages. In this context we propose CoRT, a simple neural first-stage ranking model that leverages contextual representations from pretrained language models such as BERT to complement term-based ranking functions while causing no significant delay at query time. Using the MS MARCO dataset, we show that CoRT significantly increases the candidate recall by complementing BM25 with missing candidates. Consequently, we find subsequent re-rankers achieve superior results with less candidates. We further demonstrate that passage retrieval using CoRT can be realized with surprisingly low latencies.

The largest store of continually updating knowledge on our planet can be accessed via internet search. In this work we study giving access to this information to conversational agents. Large language models, even though they store an impressive amount of knowledge within their weights, are known to hallucinate facts when generating dialogue (Shuster et al., 2021); moreover, those facts are frozen in time at the point of model training. In contrast, we propose an approach that learns to generate an internet search query based on the context, and then conditions on the search results to finally generate a response, a method that can employ up-to-the-minute relevant information. We train and evaluate such models on a newly collected dataset of human-human conversations whereby one of the speakers is given access to internet search during knowledgedriven discussions in order to ground their responses. We find that search-query based access of the internet in conversation provides superior performance compared to existing approaches that either use no augmentation or FAISS-based retrieval (Lewis et al., 2020).

This is the fifth year of the TREC Deep Learning track. As in previous years, we leverage the MS MARCO datasets that made hundreds of thousands of human-annotated training labels available for both passage and document ranking tasks. We mostly repeated last year's design, to get another matching test set, based on the larger, cleaner, less-biased v2 passage and document set, with passage ranking as primary and document ranking as a secondary task (using labels inferred from passage). As we did last year, we sample from MS MARCO queries that were completely held out, unused in corpus construction, unlike the test queries in the first three years. This approach yields a more difficult test with more headroom for improvement. Alongside the usual MS MARCO (human) queries from MS MARCO, this year we generated synthetic queries using a fine-tuned T5 model and using a GPT-4 prompt. The new headline result this year is that runs using Large Language Model (LLM) prompting in some way outperformed runs that use the "nnlm" approach, which was the best approach in the previous four years. Since this is the last year of the track, future iterations of prompt-based ranking can happen in other tracks. Human relevance assessments were applied to all query types, not just human MS MARCO queries. Evaluation using synthetic queries gave similar results to human queries, with system ordering agreement of τ=0.8487. However, human effort was needed to select a subset of the synthetic queries that were usable. We did not see clear evidence of bias, where runs using GPT-4 were favored when evaluated using synthetic GPT-4 queries, or where runs using T5 were favored when evaluated on synthetic T5 queries.

Our goal is to create a convenient natural language interface for performing well-specified but complex actions such as analyzing data, manipulating text, and querying databases. However, existing natural language interfaces for such tasks are quite primitive compared to the power one wields with a programming language. To bridge this gap, we start with a core programming language and allow users to "naturalize" the core language incrementally by defining alternative, more natural syntax and increasingly complex concepts in terms of compositions of simpler ones. In a voxel world, we show that a community of users can simultaneously teach a common system a diverse language and use it to build hundreds of complex voxel structures. Over the course of three days, these users went from using only the core language to using the naturalized language in 85.9\% of the last 10K utterances.

When completing knowledge-intensive tasks, humans sometimes need not just an answer but also a corresponding reference passage for auxiliary reading. Previous methods required obtaining pre-segmented article chunks through additional retrieval models. This paper explores leveraging the parameterized knowledge stored during the pre-training phase of large language models (LLMs) to independently recall reference passage from any starting position. We propose a two-stage framework that simulates the scenario of humans recalling easily forgotten references. Initially, the LLM is prompted to recall document title identifiers to obtain a coarse-grained document set. Then, based on the acquired coarse-grained document set, it recalls fine-grained passage. In the two-stage recall process, we use constrained decoding to ensure that content outside of the stored documents is not generated. To increase speed, we only recall a short prefix in the second stage, then locate its position to retrieve a complete passage. Experiments on KILT knowledge-sensitive tasks have verified that LLMs can independently recall reference passage location in various task forms, and the obtained reference significantly assist downstream tasks.

With the recent rise of large language models, vision-language models, and other general foundation models, there is growing potential for multimodal, multi-task robotics that can operate in diverse environments given natural language input. One such application is indoor navigation using natural language instructions. However, despite recent progress, this problem remains challenging due to the 3D spatial reasoning and semantic understanding required. Additionally, the language used may be imperfect or misaligned with the scene, further complicating the task. To address this challenge, we curate a benchmark dataset, IRef-VLA, for Interactive Referential Vision and Language-guided Action in 3D Scenes with imperfect references. IRef-VLA is the largest real-world dataset for the referential grounding task, consisting of over 11.5K scanned 3D rooms from existing datasets, 7.6M heuristically generated semantic relations, and 4.7M referential statements. Our dataset also contains semantic object and room annotations, scene graphs, navigable free space annotations, and is augmented with statements where the language has imperfections or ambiguities. We verify the generalizability of our dataset by evaluating with state-of-the-art models to obtain a performance baseline and also develop a graph-search baseline to demonstrate the performance bound and generation of alternatives using scene-graph knowledge. With this benchmark, we aim to provide a resource for 3D scene understanding that aids the development of robust, interactive navigation systems. The dataset and all source code is publicly released at https://github.com/HaochenZ11/IRef-VLA.

Large language models (LLMs) have rapidly evolved from text generators into powerful problem solvers. Yet, many open tasks demand critical thinking, multi-source, and verifiable outputs, which are beyond single-shot prompting or standard retrieval-augmented generation. Recently, numerous studies have explored Deep Research (DR), which aims to combine the reasoning capabilities of LLMs with external tools, such as search engines, thereby empowering LLMs to act as research agents capable of completing complex, open-ended tasks. This survey presents a comprehensive and systematic overview of deep research systems, including a clear roadmap, foundational components, practical implementation techniques, important challenges, and future directions. Specifically, our main contributions are as follows: (i) we formalize a three-stage roadmap and distinguish deep research from related paradigms; (ii) we introduce four key components: query planning, information acquisition, memory management, and answer generation, each paired with fine-grained sub-taxonomies; (iii) we summarize optimization techniques, including prompting, supervised fine-tuning, and agentic reinforcement learning; and (iv) we consolidate evaluation criteria and open challenges, aiming to guide and facilitate future development. As the field of deep research continues to evolve rapidly, we are committed to continuously updating this survey to reflect the latest progress in this area.

Large language models (LLMs) have emerged as a widely-used tool for information seeking, but their generated outputs are prone to hallucination. In this work, we aim to enable LLMs to generate text with citations, improving their factual correctness and verifiability. Existing work mainly relies on commercial search engines and human evaluation, making it challenging to reproduce and compare with different modeling approaches. We propose ALCE, the first benchmark for Automatic LLMs' Citation Evaluation. ALCE collects a diverse set of questions and retrieval corpora and requires building end-to-end systems to retrieve supporting evidence and generate answers with citations. We build automatic metrics along three dimensions -- fluency, correctness, and citation quality -- and demonstrate their strong correlation with human judgements. Our experiments with state-of-the-art LLMs and novel prompting strategies show that current systems have considerable room for improvements -- for example, on the ELI5 dataset, even the best model has 49% of its generations lacking complete citation support. Our extensive analyses further highlight promising future directions, including developing better retrievers, advancing long-context LLMs, and improving the ability to synthesize information from multiple sources.

Although we have witnessed impressive progress in Semantic Role Labeling (SRL), most of the research in the area is carried out assuming that the majority of predicates are verbs. Conversely, predicates can also be expressed using other parts of speech, e.g., nouns and adjectives. However, non-verbal predicates appear in the benchmarks we commonly use to measure progress in SRL less frequently than in some real-world settings -- newspaper headlines, dialogues, and tweets, among others. In this paper, we put forward a new PropBank dataset which boasts wide coverage of multiple predicate types. Thanks to it, we demonstrate empirically that standard benchmarks do not provide an accurate picture of the current situation in SRL and that state-of-the-art systems are still incapable of transferring knowledge across different predicate types. Having observed these issues, we also present a novel, manually-annotated challenge set designed to give equal importance to verbal, nominal, and adjectival predicate-argument structures. We use such dataset to investigate whether we can leverage different linguistic resources to promote knowledge transfer. In conclusion, we claim that SRL is far from "solved", and its integration with other semantic tasks might enable significant improvements in the future, especially for the long tail of non-verbal predicates, thereby facilitating further research on SRL for non-verbal predicates.

Recently, neural models pretrained on a language modeling task, such as ELMo (Peters et al., 2017), OpenAI GPT (Radford et al., 2018), and BERT (Devlin et al., 2018), have achieved impressive results on various natural language processing tasks such as question-answering and natural language inference. In this paper, we describe a simple re-implementation of BERT for query-based passage re-ranking. Our system is the state of the art on the TREC-CAR dataset and the top entry in the leaderboard of the MS MARCO passage retrieval task, outperforming the previous state of the art by 27% (relative) in MRR@10. The code to reproduce our results is available at https://github.com/nyu-dl/dl4marco-bert

We study the problem of retrieval with instructions, where users of a retrieval system explicitly describe their intent along with their queries. We aim to develop a general-purpose task-aware retrieval system using multi-task instruction tuning, which can follow human-written instructions to find the best documents for a given query. We introduce the first large-scale collection of approximately 40 retrieval datasets with instructions, BERRI, and present TART, a multi-task retrieval system trained on BERRI with instructions. TART shows strong capabilities to adapt to a new retrieval task via instructions and advances the state of the art on two zero-shot retrieval benchmarks, BEIR and LOTTE, outperforming models up to three times larger. We further introduce a new evaluation setup, X^2-Retrieval to better reflect real-world scenarios, where diverse domains and tasks are pooled and a system needs to find documents aligning users' intents. In this setup, TART significantly outperforms competitive baselines, further demonstrating the effectiveness of guiding retrieval with instructions.

This paper presents a comprehensive and practical guide for practitioners and end-users working with Large Language Models (LLMs) in their downstream natural language processing (NLP) tasks. We provide discussions and insights into the usage of LLMs from the perspectives of models, data, and downstream tasks. Firstly, we offer an introduction and brief summary of current GPT- and BERT-style LLMs. Then, we discuss the influence of pre-training data, training data, and test data. Most importantly, we provide a detailed discussion about the use and non-use cases of large language models for various natural language processing tasks, such as knowledge-intensive tasks, traditional natural language understanding tasks, natural language generation tasks, emergent abilities, and considerations for specific tasks.We present various use cases and non-use cases to illustrate the practical applications and limitations of LLMs in real-world scenarios. We also try to understand the importance of data and the specific challenges associated with each NLP task. Furthermore, we explore the impact of spurious biases on LLMs and delve into other essential considerations, such as efficiency, cost, and latency, to ensure a comprehensive understanding of deploying LLMs in practice. This comprehensive guide aims to provide researchers and practitioners with valuable insights and best practices for working with LLMs, thereby enabling the successful implementation of these models in a wide range of NLP tasks. A curated list of practical guide resources of LLMs, regularly updated, can be found at https://github.com/Mooler0410/LLMsPracticalGuide.

Task semantics can be expressed by a set of input-to-output examples or a piece of textual instruction. Conventional machine learning approaches for natural language processing (NLP) mainly rely on the availability of large-scale sets of task-specific examples. Two issues arise: first, collecting task-specific labeled examples does not apply to scenarios where tasks may be too complicated or costly to annotate, or the system is required to handle a new task immediately; second, this is not user-friendly since end-users are probably more willing to provide task description rather than a set of examples before using the system. Therefore, the community is paying increasing interest in a new supervision-seeking paradigm for NLP: learning from task instructions. Despite its impressive progress, there are some common issues that the community struggles with. This survey paper tries to summarize and provide insights into the current research on instruction learning, particularly by answering the following questions: (i) What is task instruction, and what instruction types exist? (ii) How to model instructions? (iii) What factors influence and explain the instructions' performance? (iv) What challenges remain in instruction learning? To our knowledge, this is the first comprehensive survey about textual instructions.

Knowledge-intensive language tasks (KILTs) benefit from retrieving high-quality relevant contexts from large external knowledge corpora. Learning task-specific retrievers that return relevant contexts at an appropriate level of semantic granularity, such as a document retriever, passage retriever, sentence retriever, and entity retriever, may help to achieve better performance on the end-to-end task. But a task-specific retriever usually has poor generalization ability to new domains and tasks, and it may be costly to deploy a variety of specialised retrievers in practice. We propose a unified generative retriever (UGR) that combines task-specific effectiveness with robust performance over different retrieval tasks in KILTs. To achieve this goal, we make two major contributions: (i) To unify different retrieval tasks into a single generative form, we introduce an n-gram-based identifier for relevant contexts at different levels of granularity in KILTs. And (ii) to address different retrieval tasks with a single model, we employ a prompt learning strategy and investigate three methods to design prompt tokens for each task. In this way, the proposed UGR model can not only share common knowledge across tasks for better generalization, but also perform different retrieval tasks effectively by distinguishing task-specific characteristics. We train UGR on a heterogeneous set of retrieval corpora with well-designed prompts in a supervised and multi-task fashion. Experimental results on the KILT benchmark demonstrate the effectiveness of UGR on in-domain datasets, out-of-domain datasets, and unseen tasks.

The principal goal of the TREC Neural Cross-Language Information Retrieval (NeuCLIR) track is to study the impact of neural approaches to cross-language information retrieval. The track has created four collections, large collections of Chinese, Persian, and Russian newswire and a smaller collection of Chinese scientific abstracts. The principal tasks are ranked retrieval of news in one of the three languages, using English topics. Results for a multilingual task, also with English topics but with documents from all three newswire collections, are also reported. New in this second year of the track is a pilot technical documents CLIR task for ranked retrieval of Chinese technical documents using English topics. A total of 220 runs across all tasks were submitted by six participating teams and, as baselines, by track coordinators. Task descriptions and results are presented.

The main challenge in vision-and-language navigation (VLN) is how to understand natural-language instructions in an unseen environment. The main limitation of conventional VLN algorithms is that if an action is mistaken, the agent fails to follow the instructions or explores unnecessary regions, leading the agent to an irrecoverable path. To tackle this problem, we propose Meta-Explore, a hierarchical navigation method deploying an exploitation policy to correct misled recent actions. We show that an exploitation policy, which moves the agent toward a well-chosen local goal among unvisited but observable states, outperforms a method which moves the agent to a previously visited state. We also highlight the demand for imagining regretful explorations with semantically meaningful clues. The key to our approach is understanding the object placements around the agent in spectral-domain. Specifically, we present a novel visual representation, called scene object spectrum (SOS), which performs category-wise 2D Fourier transform of detected objects. Combining exploitation policy and SOS features, the agent can correct its path by choosing a promising local goal. We evaluate our method in three VLN benchmarks: R2R, SOON, and REVERIE. Meta-Explore outperforms other baselines and shows significant generalization performance. In addition, local goal search using the proposed spectral-domain SOS features significantly improves the success rate by 17.1% and SPL by 20.6% for the SOON benchmark.

We are interested in the generation of navigation instructions, either in their own right or as training material for robotic navigation task. In this paper, we propose a new approach to navigation instruction generation by framing the problem as an image captioning task using semantic maps as visual input. Conventional approaches employ a sequence of panorama images to generate navigation instructions. Semantic maps abstract away from visual details and fuse the information in multiple panorama images into a single top-down representation, thereby reducing computational complexity to process the input. We present a benchmark dataset for instruction generation using semantic maps, propose an initial model and ask human subjects to manually assess the quality of generated instructions. Our initial investigations show promise in using semantic maps for instruction generation instead of a sequence of panorama images, but there is vast scope for improvement. We release the code for data preparation and model training at https://github.com/chengzu-li/VLGen.

Recent neural retrieval mainly focuses on ranking short texts and is challenged with long documents. Existing work mainly evaluates either ranking passages or whole documents. However, there are many cases where the users want to find a relevant passage within a long document from a huge corpus, e.g. legal cases, research papers, etc. In this scenario, the passage often provides little document context and thus challenges the current approaches to finding the correct document and returning accurate results. To fill this gap, we propose and name this task Document-Aware Passage Retrieval (DAPR) and build a benchmark including multiple datasets from various domains, covering both DAPR and whole-document retrieval. In experiments, we extend the state-of-the-art neural passage retrievers with document-level context via different approaches including prepending document summary, pooling over passage representations, and hybrid retrieval with BM25. The hybrid-retrieval systems, the overall best, can only improve on the DAPR tasks marginally while significantly improving on the document-retrieval tasks. This motivates further research in developing better retrieval systems for the new task. The code and the data are available at https://github.com/kwang2049/dapr

NLP benchmarks have largely focused on short texts, such as sentences and paragraphs, even though long texts comprise a considerable amount of natural language in the wild. We introduce SCROLLS, a suite of tasks that require reasoning over long texts. We examine existing long-text datasets, and handpick ones where the text is naturally long, while prioritizing tasks that involve synthesizing information across the input. SCROLLS contains summarization, question answering, and natural language inference tasks, covering multiple domains, including literature, science, business, and entertainment. Initial baselines, including Longformer Encoder-Decoder, indicate that there is ample room for improvement on SCROLLS. We make all datasets available in a unified text-to-text format and host a live leaderboard to facilitate research on model architecture and pretraining methods.

Automatic web navigation aims to build a web agent that can follow language instructions to execute complex and diverse tasks on real-world websites. Existing work primarily takes HTML documents as input, which define the contents and action spaces (i.e., actionable elements and operations) of webpages. Nevertheless, HTML documents may not provide a clear task-related context for each element, making it hard to select the right (sequence of) actions. In this paper, we propose to contextualize HTML elements through their "dual views" in webpage screenshots: each HTML element has its corresponding bounding box and visual content in the screenshot. We build upon the insight -- web developers tend to arrange task-related elements nearby on webpages to enhance user experiences -- and propose to contextualize each element with its neighbor elements, using both textual and visual features. The resulting representations of HTML elements are more informative for the agent to take action. We validate our method on the recently released Mind2Web dataset, which features diverse navigation domains and tasks on real-world websites. Our method consistently outperforms the baseline in all the scenarios, including cross-task, cross-website, and cross-domain ones.

Dense retrieval has become a prominent method to obtain relevant context or world knowledge in open-domain NLP tasks. When we use a learned dense retriever on a retrieval corpus at inference time, an often-overlooked design choice is the retrieval unit in which the corpus is indexed, e.g. document, passage, or sentence. We discover that the retrieval unit choice significantly impacts the performance of both retrieval and downstream tasks. Distinct from the typical approach of using passages or sentences, we introduce a novel retrieval unit, proposition, for dense retrieval. Propositions are defined as atomic expressions within text, each encapsulating a distinct factoid and presented in a concise, self-contained natural language format. We conduct an empirical comparison of different retrieval granularity. Our results reveal that proposition-based retrieval significantly outperforms traditional passage or sentence-based methods in dense retrieval. Moreover, retrieval by proposition also enhances the performance of downstream QA tasks, since the retrieved texts are more condensed with question-relevant information, reducing the need for lengthy input tokens and minimizing the inclusion of extraneous, irrelevant information.

Multimodal LLMs are the natural evolution of LLMs, and enlarge their capabilities so as to work beyond the pure textual modality. As research is being carried out to design novel architectures and vision-and-language adapters, in this paper we concentrate on endowing such models with the capability of answering questions that require external knowledge. Our approach, termed Wiki-LLaVA, aims at integrating an external knowledge source of multimodal documents, which is accessed through a hierarchical retrieval pipeline. Relevant passages, using this approach, are retrieved from the external knowledge source and employed as additional context for the LLM, augmenting the effectiveness and precision of generated dialogues. We conduct extensive experiments on datasets tailored for visual question answering with external data and demonstrate the appropriateness of our approach.

Incremental decision making in real-world environments is one of the most challenging tasks in embodied artificial intelligence. One particularly demanding scenario is Vision and Language Navigation~(VLN) which requires visual and natural language understanding as well as spatial and temporal reasoning capabilities. The embodied agent needs to ground its understanding of navigation instructions in observations of a real-world environment like Street View. Despite the impressive results of LLMs in other research areas, it is an ongoing problem of how to best connect them with an interactive visual environment. In this work, we propose VELMA, an embodied LLM agent that uses a verbalization of the trajectory and of visual environment observations as contextual prompt for the next action. Visual information is verbalized by a pipeline that extracts landmarks from the human written navigation instructions and uses CLIP to determine their visibility in the current panorama view. We show that VELMA is able to successfully follow navigation instructions in Street View with only two in-context examples. We further finetune the LLM agent on a few thousand examples and achieve 25%-30% relative improvement in task completion over the previous state-of-the-art for two datasets.

Phrase Grounding aims to detect and localize objects in images that are referred to and are queried by natural language phrases. Phrase grounding finds applications in tasks such as Visual Dialog, Visual Search and Image-text co-reference resolution. In this paper, we present a framework that leverages information such as phrase category, relationships among neighboring phrases in a sentence and context to improve the performance of phrase grounding systems. We propose three modules: Proposal Indexing Network(PIN); Inter-phrase Regression Network(IRN) and Proposal Ranking Network(PRN) each of which analyze the region proposals of an image at increasing levels of detail by incorporating the above information. Also, in the absence of ground-truth spatial locations of the phrases(weakly-supervised), we propose knowledge transfer mechanisms that leverages the framework of PIN module. We demonstrate the effectiveness of our approach on the Flickr 30k Entities and ReferItGame datasets, for which we achieve improvements over state-of-the-art approaches in both supervised and weakly-supervised variants.

While the rise of large language models (LLMs) has created rich new opportunities to learn about digital technology, many on the margins of this technology struggle to gain and maintain competency due to lexical or conceptual barriers that prevent them from asking appropriate questions. Although there have been many efforts to understand factuality of LLM-created content and ability of LLMs to answer questions, it is not well understood how unclear or nonstandard language queries affect the model outputs. We propose the creation of a dataset that captures questions of digital newcomers and outsiders, utilizing data we have compiled from a decade's worth of one-on-one tutoring. In this paper we lay out our planned efforts and some potential uses of this dataset.

Recent advancements in Large Language Model (LLM)-based frameworks have extended their capabilities to complex real-world applications, such as interactive web navigation. These systems, driven by user commands, navigate web browsers to complete tasks through multi-turn dialogues, offering both innovative opportunities and significant challenges. Despite the introduction of benchmarks for conversational web navigation, a detailed understanding of the key contextual components that influence the performance of these agents remains elusive. This study aims to fill this gap by analyzing the various contextual elements crucial to the functioning of web navigation agents. We investigate the optimization of context management, focusing on the influence of interaction history and web page representation. Our work highlights improved agent performance across out-of-distribution scenarios, including unseen websites, categories, and geographic locations through effective context management. These findings provide insights into the design and optimization of LLM-based agents, enabling more accurate and effective web navigation in real-world applications.

The issue of shortcut learning is widely known in NLP and has been an important research focus in recent years. Unintended correlations in the data enable models to easily solve tasks that were meant to exhibit advanced language understanding and reasoning capabilities. In this survey paper, we focus on the field of machine reading comprehension (MRC), an important task for showcasing high-level language understanding that also suffers from a range of shortcuts. We summarize the available techniques for measuring and mitigating shortcuts and conclude with suggestions for further progress in shortcut research. Importantly, we highlight two concerns for shortcut mitigation in MRC: (1) the lack of public challenge sets, a necessary component for effective and reusable evaluation, and (2) the lack of certain mitigation techniques that are prominent in other areas.

Vision-and-Language Navigation (VLN) has gained increasing attention over recent years and many approaches have emerged to advance their development. The remarkable achievements of foundation models have shaped the challenges and proposed methods for VLN research. In this survey, we provide a top-down review that adopts a principled framework for embodied planning and reasoning, and emphasizes the current methods and future opportunities leveraging foundation models to address VLN challenges. We hope our in-depth discussions could provide valuable resources and insights: on one hand, to milestone the progress and explore opportunities and potential roles for foundation models in this field, and on the other, to organize different challenges and solutions in VLN to foundation model researchers.

Using Large Language Models (LLMs) for relevance assessments offers promising opportunities to improve Information Retrieval (IR), Natural Language Processing (NLP), and related fields. Indeed, LLMs hold the promise of allowing IR experimenters to build evaluation collections with a fraction of the manual human labor currently required. This could help with fresh topics on which there is still limited knowledge and could mitigate the challenges of evaluating ranking systems in low-resource scenarios, where it is challenging to find human annotators. Given the fast-paced recent developments in the domain, many questions concerning LLMs as assessors are yet to be answered. Among the aspects that require further investigation, we can list the impact of various components in a relevance judgment generation pipeline, such as the prompt used or the LLM chosen. This paper benchmarks and reports on the results of a large-scale automatic relevance judgment evaluation, the LLMJudge challenge at SIGIR 2024, where different relevance assessment approaches were proposed. In detail, we release and benchmark 42 LLM-generated labels of the TREC 2023 Deep Learning track relevance judgments produced by eight international teams who participated in the challenge. Given their diverse nature, these automatically generated relevance judgments can help the community not only investigate systematic biases caused by LLMs but also explore the effectiveness of ensemble models, analyze the trade-offs between different models and human assessors, and advance methodologies for improving automated evaluation techniques. The released resource is available at the following link: https://llm4eval.github.io/LLMJudge-benchmark/

In this work we focus on multi-turn passage retrieval as a crucial component of conversational search. One of the key challenges in multi-turn passage retrieval comes from the fact that the current turn query is often underspecified due to zero anaphora, topic change, or topic return. Context from the conversational history can be used to arrive at a better expression of the current turn query, defined as the task of query resolution. In this paper, we model the query resolution task as a binary term classification problem: for each term appearing in the previous turns of the conversation decide whether to add it to the current turn query or not. We propose QuReTeC (Query Resolution by Term Classification), a neural query resolution model based on bidirectional transformers. We propose a distant supervision method to automatically generate training data by using query-passage relevance labels. Such labels are often readily available in a collection either as human annotations or inferred from user interactions. We show that QuReTeC outperforms state-of-the-art models, and furthermore, that our distant supervision method can be used to substantially reduce the amount of human-curated data required to train QuReTeC. We incorporate QuReTeC in a multi-turn, multi-stage passage retrieval architecture and demonstrate its effectiveness on the TREC CAsT dataset.

Multimodal search has become increasingly important in providing users with a natural and effective way to ex-press their search intentions. Images offer fine-grained details of the desired products, while text allows for easily incorporating search modifications. However, some existing multimodal search systems are unreliable and fail to address simple queries. The problem becomes harder with the large variability of natural language text queries, which may contain ambiguous, implicit, and irrelevant in-formation. Addressing these issues may require systems with enhanced matching capabilities, reasoning abilities, and context-aware query parsing and rewriting. This paper introduces a novel multimodal search model that achieves a new performance milestone on the Fashion200K dataset. Additionally, we propose a novel search interface integrating Large Language Models (LLMs) to facilitate natural language interaction. This interface routes queries to search systems while conversationally engaging with users and considering previous searches. When coupled with our multimodal search model, it heralds a new era of shopping assistants capable of offering human-like interaction and enhancing the overall search experience.

The web is full of guidance on a wide variety of tasks, from changing the oil in your car to baking an apple pie. However, as content is created independently, a single task could have thousands of corresponding procedural texts. This makes it difficult for users to view the bigger picture and understand the multiple ways the task could be accomplished. In this work we propose an unsupervised learning approach for summarizing multiple procedural texts into an intuitive graph representation, allowing users to easily explore commonalities and differences. We demonstrate our approach on recipes, a prominent example of procedural texts. User studies show that our representation is intuitive and coherent and that it has the potential to help users with several sensemaking tasks, including adapting recipes for a novice cook and finding creative ways to spice up a dish.

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve exploration efficiency. However, the planning process of LLMs is limited within texts and it is difficult to represent the spatial occupancy and geometry layout only by texts. Both are important for making rational navigation decisions. In this work, we seek to unleash the spatial perception and planning ability of Vision-Language Models (VLMs), and explore whether the VLM, with only on-board camera captured RGB/RGB-D stream inputs, can efficiently finish the visual navigation tasks in a mapless manner. We achieve this by developing the imagination-powered navigation framework ImagineNav, which imagines the future observation images at valuable robot views and translates the complex navigation planning process into a rather simple best-view image selection problem for VLM. To generate appropriate candidate robot views for imagination, we introduce the Where2Imagine module, which is distilled to align with human navigation habits. Finally, to reach the VLM preferred views, an off-the-shelf point-goal navigation policy is utilized. Empirical experiments on the challenging open-vocabulary object navigation benchmarks demonstrates the superiority of our proposed system.

Users of natural language interfaces, generally powered by Large Language Models (LLMs),often must repeat their preferences each time they make a similar request. To alleviate this, we propose including some of a user's preferences and instructions in natural language -- collectively termed standing instructions -- as additional context for such interfaces. For example, when a user states I'm hungry, their previously expressed preference for Persian food will be automatically added to the LLM prompt, so as to influence the search for relevant restaurants. We develop NLSI, a language-to-program dataset consisting of over 2.4K dialogues spanning 17 domains, where each dialogue is paired with a user profile (a set of users specific standing instructions) and corresponding structured representations (API calls). A key challenge in NLSI is to identify which subset of the standing instructions is applicable to a given dialogue. NLSI contains diverse phenomena, from simple preferences to interdependent instructions such as triggering a hotel search whenever the user is booking tickets to an event. We conduct experiments on NLSI using prompting with large language models and various retrieval approaches, achieving a maximum of 44.7% exact match on API prediction. Our results demonstrate the challenges in identifying the relevant standing instructions and their interpretation into API calls.

Large Language Models (LLMs) have shown remarkable capabilities in reasoning, exemplified by the success of OpenAI-o1 and DeepSeek-R1. However, integrating reasoning with external search processes remains challenging, especially for complex multi-hop questions requiring multiple retrieval steps. We propose ReSearch, a novel framework that trains LLMs to Reason with Search via reinforcement learning without using any supervised data on reasoning steps. Our approach treats search operations as integral components of the reasoning chain, where when and how to perform searches is guided by text-based thinking, and search results subsequently influence further reasoning. We train ReSearch on Qwen2.5-7B(-Instruct) and Qwen2.5-32B(-Instruct) models and conduct extensive experiments. Despite being trained on only one dataset, our models demonstrate strong generalizability across various benchmarks. Analysis reveals that ReSearch naturally elicits advanced reasoning capabilities such as reflection and self-correction during the reinforcement learning process.

Embodied Everyday Task is a popular task in the embodied AI community, requiring agents to make a sequence of actions based on natural language instructions and visual observations. Traditional learning-based approaches face two challenges. Firstly, natural language instructions often lack explicit task planning. Secondly, extensive training is required to equip models with knowledge of the task environment. Previous works based on Large Language Model (LLM) either suffer from poor performance due to the lack of task-specific knowledge or rely on ground truth as few-shot samples. To address the above limitations, we propose a novel approach called Progressive Retrieval Augmented Generation (P-RAG), which not only effectively leverages the powerful language processing capabilities of LLMs but also progressively accumulates task-specific knowledge without ground-truth. Compared to the conventional RAG methods, which retrieve relevant information from the database in a one-shot manner to assist generation, P-RAG introduces an iterative approach to progressively update the database. In each iteration, P-RAG retrieves the latest database and obtains historical information from the previous interaction as experiential references for the current interaction. Moreover, we also introduce a more granular retrieval scheme that not only retrieves similar tasks but also incorporates retrieval of similar situations to provide more valuable reference experiences. Extensive experiments reveal that P-RAG achieves competitive results without utilizing ground truth and can even further improve performance through self-iterations.

This paper presents first successful steps in designing search agents that learn meta-strategies for iterative query refinement in information-seeking tasks. Our approach uses machine reading to guide the selection of refinement terms from aggregated search results. Agents are then empowered with simple but effective search operators to exert fine-grained and transparent control over queries and search results. We develop a novel way of generating synthetic search sessions, which leverages the power of transformer-based language models through (self-)supervised learning. We also present a reinforcement learning agent with dynamically constrained actions that learns interactive search strategies from scratch. Our search agents obtain retrieval and answer quality performance comparable to recent neural methods, using only a traditional term-based BM25 ranking function and interpretable discrete reranking and filtering actions.

Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic instructions. A natural goal in Vision Language Navigation (VLN) research is to impart autonomous agents with similar capabilities. Recent works take a step towards this goal by creating a semantic spatial map representation of the environment without any labeled data. However, their representations are limited for practical applicability as they do not distinguish between different instances of the same object. In this work, we address this limitation by integrating instance-level information into spatial map representation using a community detection algorithm and utilizing word ontology learned by large language models (LLMs) to perform open-set semantic associations in the mapping representation. The resulting map representation improves the navigation performance by two-fold (233%) on realistic language commands with instance-specific descriptions compared to the baseline. We validate the practicality and effectiveness of our approach through extensive qualitative and quantitative experiments.

Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize navigational reasoning and diverse language understanding. However, a significant discrepancy in agent performance is observed when integrating LLMs in the Vision-and-Language navigation (VLN) tasks compared to previous downstream specialist models. Furthermore, the inherent capacity of language to interpret and facilitate communication in agent interactions is often underutilized in these integrations. In this work, we strive to bridge the divide between VLN-specialized models and LLM-based navigation paradigms, while maintaining the interpretative prowess of LLMs in generating linguistic navigational reasoning. By aligning visual content in a frozen LLM, we encompass visual observation comprehension for LLMs and exploit a way to incorporate LLMs and navigation policy networks for effective action predictions and navigational reasoning. We demonstrate the data efficiency of the proposed methods and eliminate the gap between LM-based agents and state-of-the-art VLN specialists.

Navigation in unfamiliar environments presents a major challenge for robots: while mapping and planning techniques can be used to build up a representation of the world, quickly discovering a path to a desired goal in unfamiliar settings with such methods often requires lengthy mapping and exploration. Humans can rapidly navigate new environments, particularly indoor environments that are laid out logically, by leveraging semantics -- e.g., a kitchen often adjoins a living room, an exit sign indicates the way out, and so forth. Language models can provide robots with such knowledge, but directly using language models to instruct a robot how to reach some destination can also be impractical: while language models might produce a narrative about how to reach some goal, because they are not grounded in real-world observations, this narrative might be arbitrarily wrong. Therefore, in this paper we study how the ``semantic guesswork'' produced by language models can be utilized as a guiding heuristic for planning algorithms. Our method, Language Frontier Guide (LFG), uses the language model to bias exploration of novel real-world environments by incorporating the semantic knowledge stored in language models as a search heuristic for planning with either topological or metric maps. We evaluate LFG in challenging real-world environments and simulated benchmarks, outperforming uninformed exploration and other ways of using language models.

In recent years, the rapid advancement of Large Language Models (LLMs) has transformed the landscape of scientific research, offering unprecedented support across various stages of the research cycle. This paper presents the first systematic survey dedicated to exploring how LLMs are revolutionizing the scientific research process. We analyze the unique roles LLMs play across four critical stages of research: hypothesis discovery, experiment planning and implementation, scientific writing, and peer reviewing. Our review comprehensively showcases the task-specific methodologies and evaluation benchmarks. By identifying current challenges and proposing future research directions, this survey not only highlights the transformative potential of LLMs, but also aims to inspire and guide researchers and practitioners in leveraging LLMs to advance scientific inquiry. Resources are available at the following repository: https://github.com/du-nlp-lab/LLM4SR

Large language models (LLMs) excel at solving problems with clear and complete statements, but often struggle with nuanced environments or interactive tasks which are common in most real-world scenarios. This highlights the critical need for developing LLMs that can effectively engage in logically consistent multi-turn dialogue, seek information and reason with incomplete data. To this end, we introduce a novel benchmark comprising a suite of multi-turn tasks each designed to test specific reasoning, interactive dialogue, and information-seeking abilities. These tasks have deterministic scoring mechanisms, thus eliminating the need for human intervention. Evaluating frontier models on our benchmark reveals significant headroom. Our analysis shows that most errors emerge from poor instruction following, reasoning failures, and poor planning. This benchmark provides valuable insights into the strengths and weaknesses of current LLMs in handling complex, interactive scenarios and offers a robust platform for future research aimed at improving these critical capabilities.

Large Language Models (LLMs) play powerful, black-box readers in the retrieve-then-read pipeline, making remarkable progress in knowledge-intensive tasks. This work introduces a new framework, Rewrite-Retrieve-Read instead of the previous retrieve-then-read for the retrieval-augmented LLMs from the perspective of the query rewriting. Unlike prior studies focusing on adapting either the retriever or the reader, our approach pays attention to the adaptation of the search query itself, for there is inevitably a gap between the input text and the needed knowledge in retrieval. We first prompt an LLM to generate the query, then use a web search engine to retrieve contexts. Furthermore, to better align the query to the frozen modules, we propose a trainable scheme for our pipeline. A small language model is adopted as a trainable rewriter to cater to the black-box LLM reader. The rewriter is trained using the feedback of the LLM reader by reinforcement learning. Evaluation is conducted on downstream tasks, open-domain QA and multiple-choice QA. Experiments results show consistent performance improvement, indicating that our framework is proven effective and scalable, and brings a new framework for retrieval-augmented LLM.

Long-context language models (LCLM), characterized by their extensive context window, is becoming increasingly popular. Meanwhile, many long-context benchmarks present challenging tasks that even the most advanced LCLMs struggle to complete. However, the underlying sources of various challenging long-context tasks have seldom been studied. To bridge this gap, we conduct experiments to indicate their difficulty stems primarily from two basic issues: "multi-matching retrieval," which requires the simultaneous retrieval of multiple items, and "logic-based retrieval," which necessitates logical judgment within retrieval criteria. These two problems, while seemingly straightforward, actually exceed the capabilities of LCLMs because they are proven to be hyper-multi-step (demanding numerous steps to solve) in nature. This finding could explain why LLMs struggle with more advanced long-context tasks, providing a more accurate perspective for rethinking solutions for them.

Large language models (LLMs) have advanced in large strides due to the effectiveness of the self-attention mechanism that processes and compares all tokens at once. However, this mechanism comes with a fundamental issue -- the predetermined context window is bound to be limited. Despite attempts to extend the context window through methods like extrapolating the positional embedding, using recurrence, or selectively retrieving essential parts of the long sequence, long-text understanding continues to be a challenge. We propose an alternative approach which instead treats the LLM as an interactive agent, allowing it to decide how to read the text via iterative prompting. We introduce MemWalker, a method that first processes the long context into a tree of summary nodes. Upon receiving a query, the model navigates this tree in search of relevant information, and responds once it gathers sufficient information. On long-text question answering tasks our method outperforms baseline approaches that use long context windows, recurrence, and retrieval. We show that, beyond effective reading, MemWalker enhances explainability by highlighting the reasoning steps as it interactively reads the text; pinpointing the relevant text segments related to the query.

With the release of ever more capable large language models (LLMs), researchers in NLP and related disciplines have started to explore the usability of LLMs for a wide variety of different annotation tasks. Very recently, a lot of this attention has shifted to tasks that are subjective in nature. Given that the latest generations of LLMs have digested and encoded extensive knowledge about different human subpopulations and individuals, the hope is that these models can be trained, tuned or prompted to align with a wide range of different human perspectives. While researchers already evaluate the success of this alignment via surveys and tests, there is a lack of resources to evaluate the alignment on what oftentimes matters the most in NLP; the actual downstream tasks. To fill this gap we present SubData, a Python library that offers researchers working on topics related to subjectivity in annotation tasks a convenient way of collecting, combining and using a range of suitable datasets.

As queries in retrieval-augmented generation (RAG) pipelines powered by large language models (LLMs) become increasingly complex and diverse, dense retrieval models have demonstrated strong performance in semantic matching. Nevertheless, they often struggle with fine-grained retrieval tasks, where precise keyword alignment and span-level localization are required, even in cases with high lexical overlap that would intuitively suggest easier retrieval. To systematically evaluate this limitation, we introduce two targeted tasks, keyword retrieval and part-of-passage retrieval, designed to simulate practical fine-grained scenarios. Motivated by these observations, we propose LexSemBridge, a unified framework that enhances dense query representations through fine-grained, input-aware vector modulation. LexSemBridge constructs latent enhancement vectors from input tokens using three paradigms: Statistical (SLR), Learned (LLR), and Contextual (CLR), and integrates them with dense embeddings via element-wise interaction. Theoretically, we show that this modulation preserves the semantic direction while selectively amplifying discriminative dimensions. LexSemBridge operates as a plug-in without modifying the backbone encoder and naturally extends to both text and vision modalities. Extensive experiments across semantic and fine-grained retrieval tasks validate the effectiveness and generality of our approach. All code and models are publicly available at https://github.com/Jasaxion/LexSemBridge/

Embodied navigation is a fundamental capability of embodied intelligence, enabling robots to move and interact within physical environments. However, existing navigation tasks primarily focus on predefined object navigation or instruction following, which significantly differs from human needs in real-world scenarios involving complex, open-ended scenes. To bridge this gap, we introduce a challenging long-horizon navigation task that requires understanding high-level human instructions and performing spatial-aware object navigation in real-world environments. Existing embodied navigation methods struggle with such tasks due to their limitations in comprehending high-level human instructions and localizing objects with an open vocabulary. In this paper, we propose NavA^3, a hierarchical framework divided into two stages: global and local policies. In the global policy, we leverage the reasoning capabilities of Reasoning-VLM to parse high-level human instructions and integrate them with global 3D scene views. This allows us to reason and navigate to regions most likely to contain the goal object. In the local policy, we have collected a dataset of 1.0 million samples of spatial-aware object affordances to train the NaviAfford model (PointingVLM), which provides robust open-vocabulary object localization and spatial awareness for precise goal identification and navigation in complex environments. Extensive experiments demonstrate that NavA^3 achieves SOTA results in navigation performance and can successfully complete longhorizon navigation tasks across different robot embodiments in real-world settings, paving the way for universal embodied navigation. The dataset and code will be made available. Project website: https://NavigationA3.github.io/.

Modern IR systems are increasingly tasked with answering complex, multi-faceted queries that require deep reasoning rather than simple keyword or semantic matching. While LLM-based IR has shown great promise, the prevailing retrieve-then-rerank paradigm inherits the limitations of embedding-based retrieval; parametric generative approaches are difficult to update with new information; and long-context methods that place the entire corpus in context are computationally infeasible for large document collections. To address these challenges, we introduce LATTICE, a hierarchical retrieval framework that enables an LLM to reason over and navigate large corpora with logarithmic search complexity by imposing a semantic tree structure on the corpus. Our approach consists of two stages: (1) an offline phase that organizes the corpus into a semantic hierarchy via either a bottom-up agglomerative strategy or a top-down divisive strategy using multi-level summaries and (2) an online traversal phase where a search LLM navigates this tree. A central challenge in such LLM-guided search is that the model's relevance judgments are noisy, context-dependent, and unaware of the hierarchy, making cross-branch and cross-level comparisons difficult. To overcome this, we propose a traversal algorithm that estimates calibrated latent relevance scores from local LLM outputs and aggregates them into a global path relevance metric. Our training-free framework achieves state-of-the-art zero-shot performance on the reasoning-intensive BRIGHT benchmark, demonstrating up to 9% improvement in Recall@100 and 5% in nDCG@10 over the next best zero-shot baseline. Furthermore, compared to the fine-tuned SOTA method DIVER-v2, LATTICE attains comparable results on BRIGHT subsets that use a static corpus for evaluation.

Modern Large Language Models (LLMs) are capable of following long and complex instructions that enable a diverse amount of user tasks. However, despite Information Retrieval (IR) models using LLMs as the backbone of their architectures, nearly all of them still only take queries as input, with no instructions. For the handful of recent models that do take instructions, it's unclear how they use them. We introduce our dataset FollowIR, which contains a rigorous instruction evaluation benchmark as well as a training set for helping IR models learn to better follow real-world instructions. FollowIR builds off the long history of the TREC conferences: as TREC provides human annotators with instructions (also known as narratives) to determine document relevance, so should IR models be able to understand and decide relevance based on these detailed instructions. Our evaluation benchmark starts with three deeply judged TREC collections and alters the annotator instructions, re-annotating relevant documents. Through this process, we can measure how well IR models follow instructions, through a new pairwise evaluation framework. Our results indicate that existing retrieval models fail to correctly use instructions, using them for basic keywords and struggling to understand long-form information. However, we show that it is possible for IR models to learn to follow complex instructions: our new FollowIR-7B model has significant improvements (over 13%) after fine-tuning on our training set.

Large language models (LLMs) are incredible and versatile tools for text-based tasks that have enabled countless, previously unimaginable, applications. Retrieval models, in contrast, have not yet seen such capable general-purpose models emerge. To achieve this goal, retrieval models must be able to perform complex retrieval tasks, where queries contain multiple parts, constraints, or requirements in natural language. These tasks represent a natural progression from the simple, single-aspect queries that are used in the vast majority of existing, commonly used evaluation sets. Complex queries naturally arise as people expect search systems to handle more specific and often ambitious information requests, as is demonstrated by how people use LLM-based information systems. Despite the growing desire for retrieval models to expand their capabilities in complex retrieval tasks, there exist limited resources to assess the ability of retrieval models on a comprehensive set of diverse complex tasks. The few resources that do exist feature a limited scope and often lack realistic settings making it hard to know the true capabilities of retrieval models on complex real-world retrieval tasks. To address this shortcoming and spur innovation in next-generation retrieval models, we construct a diverse and realistic set of complex retrieval tasks and benchmark a representative set of state-of-the-art retrieval models. Additionally, we explore the impact of LLM-based query expansion and rewriting on retrieval quality. Our results show that even the best models struggle to produce high-quality retrieval results with the highest average nDCG@10 of only 0.346 and R@100 of only 0.587 across all tasks. Although LLM augmentation can help weaker models, the strongest model has decreased performance across all metrics with all rewriting techniques.

This paper presents our system description and error analysis of our entry for NLLP 2024 shared task on Legal Natural Language Inference (L-NLI) hagag2024legallenssharedtask2024. The task required classifying these relationships as entailed, contradicted, or neutral, indicating any association between the review and the complaint. Our system emerged as the winning submission, significantly outperforming other entries with a substantial margin and demonstrating the effectiveness of our approach in legal text analysis. We provide a detailed analysis of the strengths and limitations of each model and approach tested, along with a thorough error analysis and suggestions for future improvements. This paper aims to contribute to the growing field of legal NLP by offering insights into advanced techniques for natural language inference in legal contexts, making it accessible to both experts and newcomers in the field.

Retrieval-augmented in-context learning has emerged as a powerful approach for addressing knowledge-intensive tasks using frozen language models (LM) and retrieval models (RM). Existing work has combined these in simple "retrieve-then-read" pipelines in which the RM retrieves passages that are inserted into the LM prompt. To begin to fully realize the potential of frozen LMs and RMs, we propose Demonstrate-Search-Predict (DSP), a framework that relies on passing natural language texts in sophisticated pipelines between an LM and an RM. DSP can express high-level programs that bootstrap pipeline-aware demonstrations, search for relevant passages, and generate grounded predictions, systematically breaking down problems into small transformations that the LM and RM can handle more reliably. We have written novel DSP programs for answering questions in open-domain, multi-hop, and conversational settings, establishing in early evaluations new state-of-the-art in-context learning results and delivering 37-120%, 8-39%, and 80-290% relative gains against the vanilla LM (GPT-3.5), a standard retrieve-then-read pipeline, and a contemporaneous self-ask pipeline, respectively. We release DSP at https://github.com/stanfordnlp/dsp

As information retrieval systems continue to evolve, accurate evaluation and benchmarking of these systems become pivotal. Web search datasets, such as MS MARCO, primarily provide short keyword queries without accompanying intent or descriptions, posing a challenge in comprehending the underlying information need. This paper proposes an approach to augmenting such datasets to annotate informative query descriptions, with a focus on two prominent benchmark datasets: TREC-DL-21 and TREC-DL-22. Our methodology involves utilizing state-of-the-art LLMs to analyze and comprehend the implicit intent within individual queries from benchmark datasets. By extracting key semantic elements, we construct detailed and contextually rich descriptions for these queries. To validate the generated query descriptions, we employ crowdsourcing as a reliable means of obtaining diverse human perspectives on the accuracy and informativeness of the descriptions. This information can be used as an evaluation set for tasks such as ranking, query rewriting, or others.