Learning a perception and reasoning module for robotic assistants to plan steps to perform complex tasks based on natural language instructions often requires large free-form language annotations, especially for short high-level instructions. To reduce the cost of annotation, large language models (LLMs) are used as a planner with few data. However, when elaborating the steps, even the state-of-the-art planner that uses LLMs mostly relies on linguistic common sense, often neglecting the status of the environment at command reception, resulting in inappropriate plans. To generate plans grounded in the environment, we propose FLARE (Few-shot Language with environmental Adaptive Replanning Embodied agent), which improves task planning using both language command and environmental perception. As language instructions often contain ambiguities or incorrect expressions, we additionally propose to correct the mistakes using visual cues from the agent. The proposed scheme allows us to use a few language pairs thanks to the visual cues and significantly outperforms state-of-the-art approaches (by twice the success rate in unseen environments of the ALFRED benchmark: $16.42$\% $\to$ $40.88$\%).

Multi-Modal Grounded Planning and Efficient Replanning for Learning Embodied Agents with a Few Examples

Iterative self-improvement, a concept extending beyond personal growth, has found powerful applications in machine learning, particularly in transforming weak models into strong ones. While recent advances in natural language processing have shown its efficacy through iterative preference optimization, applying this approach to Video Large Multimodal Models (VLMMs) remains challenging due to modality misalignment. VLMMs struggle with this misalignment during iterative preference modeling, as the self-judge model often prioritizes linguistic knowledge over visual information.
Additionally, iterative preference optimization can lead to visually hallucinated verbose responses due to length bias within the self-rewarding cycle. To address these issues, we propose Iterative Self-Retrospective Direct Preference Optimization (ISR-DPO), a method that uses self-retrospection to enhance preference modeling. This approach enhances the self-judge’s focus on informative video regions, resulting in more visually grounded preferences. In extensive empirical evaluations across diverse video question answering benchmarks, the ISR-DPO significantly outperforms the state of the art. We are committed to open-sourcing our code, models, and datasets to encourage further investigation.

ISR-DPO: Aligning Large Multimodal Models for Videos by Iterative Self-Retrospective DPO

Data-free quantization (DFQ) is a technique that creates a lightweight network from its full-precision counterpart without the original training data, often through a synthetic dataset. Although several DFQ methods have been proposed for vision transformer (ViT) architectures, they fail to achieve efficacy in low-bit settings. Examining the existing methods, we observe that their synthetic data produce misaligned attention maps, while those of the real samples are highly aligned. From this observation, we find that aligning attention maps of synthetic data helps improve the overall performance of quantized ViTs. Motivated by this finding, we devise MimiQ, a novel DFQ method designed for ViTs that enhances inter-head attention similarity. First, we generate synthetic data by aligning head-wise attention outputs from each spatial query patch. Then, we align the attention maps of the quantized network to those of the full-precision teacher by applying head-wise structural attention distillation. The experimental results show that the proposed method significantly outperforms baselines, setting a new state-of-the-art performance for data-free ViT quantization.

MimiQ: Low-Bit Data-Free Quantization of Vision Transformers with Encouraging Inter-Head Attention Similarity

Robotics 3

technical paper

We are pleased to announce the Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI-25), which will be held in Philadelphia, Pennsylvania at the Pennsylvania Convention Center from February 25 to March 4, 2025.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

### [Invited Speakers](https://aaai.org/conference/aaai/aaai-25/aaai-25-invited-speakers/)

Register [here](https://aaai.org/conference/aaai/aaai-25/registration/)

AAAI 2025

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.



Jonghyun Choi

3

Presentations

Multi-Modal Grounded Planning and Efficient Replanning for Learning Embodied Agents with a Few Examples

ISR-DPO: Aligning Large Multimodal Models for Videos by Iterative Self-Retrospective DPO

MimiQ: Low-Bit Data-Free Quantization of Vision Transformers with Encouraging Inter-Head Attention Similarity

Stay up to date with the latest Underline news!

PRESENTATIONS

CONFERENCES

COMPANY

RESOURCES