Daily Papers

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial understanding required for precise manipulation tasks. Fine-tuning VLM on robotic datasets to create Vision-Language-Action Models(VLA) is a potential solution, but it is hindered by high data collection costs and generalization issues. To address these challenges, we propose a novel object-centric representation that bridges the gap between VLM's high-level reasoning and the low-level precision required for manipulation. Our key insight is that an object's canonical space, defined by its functional affordances, provides a structured and semantically meaningful way to describe interaction primitives, such as points and directions. These primitives act as a bridge, translating VLM's commonsense reasoning into actionable 3D spatial constraints. In this context, we introduce a dual closed-loop, open-vocabulary robotic manipulation system: one loop for high-level planning through primitive resampling, interaction rendering and VLM checking, and another for low-level execution via 6D pose tracking. This design ensures robust, real-time control without requiring VLM fine-tuning. Extensive experiments demonstrate strong zero-shot generalization across diverse robotic manipulation tasks, highlighting the potential of this approach for automating large-scale simulation data generation.

Faithfully summarizing the knowledge encoded by a deep neural network (DNN) into a few symbolic primitive patterns without losing much information represents a core challenge in explainable AI. To this end, Ren et al. (2023c) have derived a series of theorems to prove that the inference score of a DNN can be explained as a small set of interactions between input variables. However, the lack of generalization power makes it still hard to consider such interactions as faithful primitive patterns encoded by the DNN. Therefore, given different DNNs trained for the same task, we develop a new method to extract interactions that are shared by these DNNs. Experiments show that the extracted interactions can better reflect common knowledge shared by different DNNs.

Compositional Zero-shot Learning (CZSL) aims to identify novel compositions via known attribute-object pairs. The primary challenge in CZSL tasks lies in the significant discrepancies introduced by the complex interaction between the visual primitives of attribute and object, consequently decreasing the classification performance towards novel compositions. Previous remarkable works primarily addressed this issue by focusing on disentangling strategy or utilizing object-based conditional probabilities to constrain the selection space of attributes. Unfortunately, few studies have explored the problem from the perspective of modeling the mechanism of visual primitive interactions. Inspired by the success of vanilla adversarial learning in Cross-Domain Few-Shot Learning, we take a step further and devise a model-agnostic and Primitive-Based Adversarial training (PBadv) method to deal with this problem. Besides, the latest studies highlight the weakness of the perception of hard compositions even under data-balanced conditions. To this end, we propose a novel over-sampling strategy with object-similarity guidance to augment target compositional training data. We performed detailed quantitative analysis and retrieval experiments on well-established datasets, such as UT-Zappos50K, MIT-States, and C-GQA, to validate the effectiveness of our proposed method, and the state-of-the-art (SOTA) performance demonstrates the superiority of our approach. The code is available at https://github.com/lisuyi/PBadv_czsl.

The applications of generative AI have become extremely impressive, and the interplay between users and AI is even more so. Current human-AI interaction literature has taken a broad look at how humans interact with generative AI, but it lacks specificity regarding the user interface designs and patterns used to create these applications. Therefore, we present a survey that comprehensively presents taxonomies of how a human interacts with AI and the user interaction patterns designed to meet the needs of a variety of relevant use cases. We focus primarily on user-guided interactions, surveying interactions that are initiated by the user and do not include any implicit signals given by the user. With this survey, we aim to create a compendium of different user-interaction patterns that can be used as a reference for designers and developers alike. In doing so, we also strive to lower the entry barrier for those attempting to learn more about the design of generative AI applications.

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or demonstrations. In this work, we argue that well-directed interactions with the environment can mitigate this problem and propose an information-based measure to augment the agent's objective and accelerate the affordance discovery process. We provide a theoretical justification of our approach and we empirically validate the approach both in simulation and real-world tasks. Our method, which we dub IDA, enables the efficient discovery of visual affordances for several action primitives, such as grasping, stacking objects, or opening drawers, strongly improving data efficiency in simulation, and it allows us to learn grasping affordances in a small number of interactions, on a real-world setup with a UFACTORY XArm 6 robot arm.

This paper addresses a novel task of anticipating 3D human-object interactions (HOIs). Most existing research on HOI synthesis lacks comprehensive whole-body interactions with dynamic objects, e.g., often limited to manipulating small or static objects. Our task is significantly more challenging, as it requires modeling dynamic objects with various shapes, capturing whole-body motion, and ensuring physically valid interactions. To this end, we propose InterDiff, a framework comprising two key steps: (i) interaction diffusion, where we leverage a diffusion model to encode the distribution of future human-object interactions; (ii) interaction correction, where we introduce a physics-informed predictor to correct denoised HOIs in a diffusion step. Our key insight is to inject prior knowledge that the interactions under reference with respect to contact points follow a simple pattern and are easily predictable. Experiments on multiple human-object interaction datasets demonstrate the effectiveness of our method for this task, capable of producing realistic, vivid, and remarkably long-term 3D HOI predictions.

We present OAKINK2, a dataset of bimanual object manipulation tasks for complex daily activities. In pursuit of constructing the complex tasks into a structured representation, OAKINK2 introduces three level of abstraction to organize the manipulation tasks: Affordance, Primitive Task, and Complex Task. OAKINK2 features on an object-centric perspective for decoding the complex tasks, treating them as a sequence of object affordance fulfillment. The first level, Affordance, outlines the functionalities that objects in the scene can afford, the second level, Primitive Task, describes the minimal interaction units that humans interact with the object to achieve its affordance, and the third level, Complex Task, illustrates how Primitive Tasks are composed and interdependent. OAKINK2 dataset provides multi-view image streams and precise pose annotations for the human body, hands and various interacting objects. This extensive collection supports applications such as interaction reconstruction and motion synthesis. Based on the 3-level abstraction of OAKINK2, we explore a task-oriented framework for Complex Task Completion (CTC). CTC aims to generate a sequence of bimanual manipulation to achieve task objectives. Within the CTC framework, we employ Large Language Models (LLMs) to decompose the complex task objectives into sequences of Primitive Tasks and have developed a Motion Fulfillment Model that generates bimanual hand motion for each Primitive Task. OAKINK2 datasets and models are available at https://oakink.net/v2.

Much of the previous work towards digital agents for graphical user interfaces (GUIs) has relied on text-based representations (derived from HTML or other structured data sources), which are not always readily available. These input representations have been often coupled with custom, task-specific action spaces. This paper focuses on creating agents that interact with the digital world using the same conceptual interface that humans commonly use -- via pixel-based screenshots and a generic action space corresponding to keyboard and mouse actions. Building upon recent progress in pixel-based pretraining, we show, for the first time, that it is possible for such agents to outperform human crowdworkers on the MiniWob++ benchmark of GUI-based instruction following tasks.

Large-scale text-to-image (T2I) diffusion models have showcased incredible capabilities in generating coherent images based on textual descriptions, enabling vast applications in content generation. While recent advancements have introduced control over factors such as object localization, posture, and image contours, a crucial gap remains in our ability to control the interactions between objects in the generated content. Well-controlling interactions in generated images could yield meaningful applications, such as creating realistic scenes with interacting characters. In this work, we study the problems of conditioning T2I diffusion models with Human-Object Interaction (HOI) information, consisting of a triplet label (person, action, object) and corresponding bounding boxes. We propose a pluggable interaction control model, called InteractDiffusion that extends existing pre-trained T2I diffusion models to enable them being better conditioned on interactions. Specifically, we tokenize the HOI information and learn their relationships via interaction embeddings. A conditioning self-attention layer is trained to map HOI tokens to visual tokens, thereby conditioning the visual tokens better in existing T2I diffusion models. Our model attains the ability to control the interaction and location on existing T2I diffusion models, which outperforms existing baselines by a large margin in HOI detection score, as well as fidelity in FID and KID. Project page: https://jiuntian.github.io/interactdiffusion.

Human-Scene Interaction (HSI) is a vital component of fields like embodied AI and virtual reality. Despite advancements in motion quality and physical plausibility, two pivotal factors, versatile interaction control and the development of a user-friendly interface, require further exploration before the practical application of HSI. This paper presents a unified HSI framework, UniHSI, which supports unified control of diverse interactions through language commands. This framework is built upon the definition of interaction as Chain of Contacts (CoC): steps of human joint-object part pairs, which is inspired by the strong correlation between interaction types and human-object contact regions. Based on the definition, UniHSI constitutes a Large Language Model (LLM) Planner to translate language prompts into task plans in the form of CoC, and a Unified Controller that turns CoC into uniform task execution. To facilitate training and evaluation, we collect a new dataset named ScenePlan that encompasses thousands of task plans generated by LLMs based on diverse scenarios. Comprehensive experiments demonstrate the effectiveness of our framework in versatile task execution and generalizability to real scanned scenes. The project page is at https://github.com/OpenRobotLab/UniHSI .

Reconstructing interacting hands from monocular images is indispensable in AR/VR applications. Most existing solutions rely on the accurate localization of each skeleton joint. However, these methods tend to be unreliable due to the severe occlusion and confusing similarity among adjacent hand parts. This also defies human perception because humans can quickly imitate an interaction pattern without localizing all joints. Our key idea is to first construct a two-hand interaction prior and recast the interaction reconstruction task as the conditional sampling from the prior. To expand more interaction states, a large-scale multimodal dataset with physical plausibility is proposed. Then a VAE is trained to further condense these interaction patterns as latent codes in a prior distribution. When looking for image cues that contribute to interaction prior sampling, we propose the interaction adjacency heatmap (IAH). Compared with a joint-wise heatmap for localization, IAH assigns denser visible features to those invisible joints. Compared with an all-in-one visible heatmap, it provides more fine-grained local interaction information in each interaction region. Finally, the correlations between the extracted features and corresponding interaction codes are linked by the ViT module. Comprehensive evaluations on benchmark datasets have verified the effectiveness of this framework. The code and dataset are publicly available at https://github.com/binghui-z/InterPrior_pytorch

Recent advances in artificial intelligence (AI) have produced highly capable and controllable systems. This creates unprecedented opportunities for structured reasoning as well as collaboration among multiple AI systems and humans. To fully realize this potential, it is essential to develop a principled way of designing and studying such structured interactions. For this purpose, we introduce the conceptual framework of Flows: a systematic approach to modeling complex interactions. Flows are self-contained building blocks of computation, with an isolated state, communicating through a standardized message-based interface. This modular design allows Flows to be recursively composed into arbitrarily nested interactions, with a substantial reduction of complexity. Crucially, any interaction can be implemented using this framework, including prior work on AI--AI and human--AI interactions, prompt engineering schemes, and tool augmentation. We demonstrate the potential of Flows on the task of competitive coding, a challenging task on which even GPT-4 struggles. Our results suggest that structured reasoning and collaboration substantially improve generalization, with AI-only Flows adding +21 and human--AI Flows adding +54 absolute points in terms of solve rate. To support rapid and rigorous research, we introduce the aiFlows library. The library comes with a repository of Flows that can be easily used, extended, and composed into novel, more complex Flows. The aiFlows library is available at https://github.com/epfl-dlab/aiflows. Data and Flows for reproducing our experiments are available at https://github.com/epfl-dlab/cc_flows.

Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the progress, most still rely on pre-defined motion primitives to carry out the physical interactions with the environment, which remains a major bottleneck. In this work, we aim to synthesize robot trajectories, i.e., a dense sequence of 6-DoF end-effector waypoints, for a large variety of manipulation tasks given an open-set of instructions and an open-set of objects. We achieve this by first observing that LLMs excel at inferring affordances and constraints given a free-form language instruction. More importantly, by leveraging their code-writing capabilities, they can interact with a visual-language model (VLM) to compose 3D value maps to ground the knowledge into the observation space of the agent. The composed value maps are then used in a model-based planning framework to zero-shot synthesize closed-loop robot trajectories with robustness to dynamic perturbations. We further demonstrate how the proposed framework can benefit from online experiences by efficiently learning a dynamics model for scenes that involve contact-rich interactions. We present a large-scale study of the proposed method in both simulated and real-robot environments, showcasing the ability to perform a large variety of everyday manipulation tasks specified in free-form natural language. Project website: https://voxposer.github.io

Graphical User Interface (GUI) agents, powered by Large Foundation Models, have emerged as a transformative approach to automating human-computer interaction. These agents autonomously interact with digital systems or software applications via GUIs, emulating human actions such as clicking, typing, and navigating visual elements across diverse platforms. Motivated by the growing interest and fundamental importance of GUI agents, we provide a comprehensive survey that categorizes their benchmarks, evaluation metrics, architectures, and training methods. We propose a unified framework that delineates their perception, reasoning, planning, and acting capabilities. Furthermore, we identify important open challenges and discuss key future directions. Finally, this work serves as a basis for practitioners and researchers to gain an intuitive understanding of current progress, techniques, benchmarks, and critical open problems that remain to be addressed.

Autonomous agents powered by large language models (LLMs) have the potential to enhance human capabilities, assisting with digital tasks from sending emails to performing data analysis. The abilities of existing LLMs at such tasks are often hindered by the lack of high-quality agent data from the corresponding environments they interact with. We propose Learn-by-interact, a data-centric framework to adapt LLM agents to any given environments without human annotations. Learn-by-interact synthesizes trajectories of agent-environment interactions based on documentations, and constructs instructions by summarizing or abstracting the interaction histories, a process called backward construction. We assess the quality of our synthetic data by using them in both training-based scenarios and training-free in-context learning (ICL), where we craft innovative retrieval approaches optimized for agents. Extensive experiments on SWE-bench, WebArena, OSWorld and Spider2-V spanning across realistic coding, web, and desktop environments show the effectiveness of Learn-by-interact in various downstream agentic tasks -- baseline results are improved by up to 12.2\% for ICL with Claude-3.5 and 19.5\% for training with Codestral-22B. We further demonstrate the critical role of backward construction, which provides up to 14.0\% improvement for training. Our ablation studies demonstrate the efficiency provided by our synthesized data in ICL and the superiority of our retrieval pipeline over alternative approaches like conventional retrieval-augmented generation (RAG). We expect that Learn-by-interact will serve as a foundation for agent data synthesis as LLMs are increasingly deployed at real-world environments.

Creating interactive scenes often involves complex programming tasks. Although large language models (LLMs) like ChatGPT can generate code from natural language, their output is often error-prone, particularly when scripting interactions among multiple elements. The linear conversational structure limits the editing of individual elements, and lacking graphical and precise control complicates visual integration. To address these issues, we integrate an element-level modularization technique that processes textual descriptions for individual elements through separate LLM modules, with a central module managing interactions among elements. This modular approach allows for refining each element independently. We design a graphical user interface, MoGraphGPT , which combines modular LLMs with enhanced graphical control to generate codes for 2D interactive scenes. It enables direct integration of graphical information and offers quick, precise control through automatically generated sliders. Our comparative evaluation against an AI coding tool, Cursor Composer, as the baseline system and a usability study show MoGraphGPT significantly improves easiness, controllability, and refinement in creating complex 2D interactive scenes with multiple visual elements in a coding-free manner.

How human interact with objects depends on the functional roles of the target objects, which introduces the problem of affordance-aware hand-object interaction. It requires a large number of human demonstrations for the learning and understanding of plausible and appropriate hand-object interactions. In this work, we present AffordPose, a large-scale dataset of hand-object interactions with affordance-driven hand pose. We first annotate the specific part-level affordance labels for each object, e.g. twist, pull, handle-grasp, etc, instead of the general intents such as use or handover, to indicate the purpose and guide the localization of the hand-object interactions. The fine-grained hand-object interactions reveal the influence of hand-centered affordances on the detailed arrangement of the hand poses, yet also exhibit a certain degree of diversity. We collect a total of 26.7K hand-object interactions, each including the 3D object shape, the part-level affordance label, and the manually adjusted hand poses. The comprehensive data analysis shows the common characteristics and diversity of hand-object interactions per affordance via the parameter statistics and contacting computation. We also conduct experiments on the tasks of hand-object affordance understanding and affordance-oriented hand-object interaction generation, to validate the effectiveness of our dataset in learning the fine-grained hand-object interactions. Project page: https://github.com/GentlesJan/AffordPose.

Human-object interaction (HOI) detection aims to comprehend the intricate relationships between humans and objects, predicting <human, action, object> triplets, and serving as the foundation for numerous computer vision tasks. The complexity and diversity of human-object interactions in the real world, however, pose significant challenges for both annotation and recognition, particularly in recognizing interactions within an open world context. This study explores the universal interaction recognition in an open-world setting through the use of Vision-Language (VL) foundation models and large language models (LLMs). The proposed method is dubbed as \textbf{UniHOI}. We conduct a deep analysis of the three hierarchical features inherent in visual HOI detectors and propose a method for high-level relation extraction aimed at VL foundation models, which we call HO prompt-based learning. Our design includes an HO Prompt-guided Decoder (HOPD), facilitates the association of high-level relation representations in the foundation model with various HO pairs within the image. Furthermore, we utilize a LLM (i.e. GPT) for interaction interpretation, generating a richer linguistic understanding for complex HOIs. For open-category interaction recognition, our method supports either of two input types: interaction phrase or interpretive sentence. Our efficient architecture design and learning methods effectively unleash the potential of the VL foundation models and LLMs, allowing UniHOI to surpass all existing methods with a substantial margin, under both supervised and zero-shot settings. The code and pre-trained weights are available at: https://github.com/Caoyichao/UniHOI.

Seamless interaction between AI agents and humans using natural language remains a key goal in AI research. This paper addresses the challenges of developing interactive agents capable of understanding and executing grounded natural language instructions through the IGLU competition at NeurIPS. Despite advancements, challenges such as a scarcity of appropriate datasets and the need for effective evaluation platforms persist. We introduce a scalable data collection tool for gathering interactive grounded language instructions within a Minecraft-like environment, resulting in a Multi-Modal dataset with around 9,000 utterances and over 1,000 clarification questions. Additionally, we present a Human-in-the-Loop interactive evaluation platform for qualitative analysis and comparison of agent performance through multi-turn communication with human annotators. We offer to the community these assets referred to as IDAT (IGLU Dataset And Toolkit) which aim to advance the development of intelligent, interactive AI agents and provide essential resources for further research.

Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable features for visuomotor policy learning. Despite the progress achieved, prior endeavors disregard the interactive dynamics that capture behavior patterns and physical interaction during the manipulation process, resulting in an inadequate understanding of the relationship between objects and the environment. To this end, we propose a general pre-training pipeline that learns Manipulation by Predicting the Interaction (MPI) and enhances the visual representation.Given a pair of keyframes representing the initial and final states, along with language instructions, our algorithm predicts the transition frame and detects the interaction object, respectively. These two learning objectives achieve superior comprehension towards "how-to-interact" and "where-to-interact". We conduct a comprehensive evaluation of several challenging robotic tasks.The experimental results demonstrate that MPI exhibits remarkable improvement by 10% to 64% compared with previous state-of-the-art in real-world robot platforms as well as simulation environments. Code and checkpoints are publicly shared at https://github.com/OpenDriveLab/MPI.

We introduce DrawTalking, a prototype system enabling an approach that empowers users to build interactive worlds by sketching and speaking. The approach emphasizes user control and flexibility, and gives programming-like capability without requiring code. An early open-ended study shows the mechanics resonate and are applicable to many creative-exploratory use cases, with the potential to inspire and inform research in future natural interfaces for creative exploration and authoring.

By combining voice and touch interactions, multimodal interfaces can surpass the efficiency of either modality alone. Traditional multimodal frameworks require laborious developer work to support rich multimodal commands where the user's multimodal command involves possibly exponential combinations of actions/function invocations. This paper presents ReactGenie, a programming framework that better separates multimodal input from the computational model to enable developers to create efficient and capable multimodal interfaces with ease. ReactGenie translates multimodal user commands into NLPL (Natural Language Programming Language), a programming language we created, using a neural semantic parser based on large-language models. The ReactGenie runtime interprets the parsed NLPL and composes primitives in the computational model to implement complex user commands. As a result, ReactGenie allows easy implementation and unprecedented richness in commands for end-users of multimodal apps. Our evaluation showed that 12 developers can learn and build a nontrivial ReactGenie application in under 2.5 hours on average. In addition, compared with a traditional GUI, end-users can complete tasks faster and with less task load using ReactGenie apps.

Though LLMs are capable of generating plausible programs, it's challenging to interact with the LLMs further to revise the program, especially if the user's specific requirements are different from the initial proposal. In this paper, we introduce ANPL, an interactive programming system that ensures users can always refine the generated code towards their specific programmatic intents via structured decompositions. Borrowing the paradigm of sketching from program synthesis, an ANPL program consists of a set of input-outputs that it must satisfy, a ``sketch'' -- control/data flow expressed in precise code (e.g. Python), and ``holes'' -- sub-modules to be implemented by the LLM specified with natural language. The user revises an ANPL program by either modifying the sketch, changing the language used to describe the holes, or providing additional input-outputs to a particular hole, turning it into a sub-ANPL program that can be solved recursively. This workflow allows the users to offload programming burdens to the LLM as much as possible while retaining the ability to pinpoint and resolve bugs locally, without exposing the rest of the program to the LLM. We deploy ANPL on the Abstraction and Reasoning Corpus (ARC), a set of unique tasks that are challenging for state-of-the-art AI systems, showing it outperforms baseline programming systems that (a) without the ability to decompose tasks interactively and (b) without the guarantee that the modules can be correctly composed together. Additional evaluations on APPS, HumanEval, and real-world programming tasks have validated that the ANPL framework is applicable to multiple programming domains. We release the ANPL solutions to the ARC tasks as a dataset, providing insights into how humans decompose novel tasks programmatically. See our code at https://iprc-dip.github.io/ANPL/.

This paper presents an experimental study regarding the use of OpenAI's ChatGPT for robotics applications. We outline a strategy that combines design principles for prompt engineering and the creation of a high-level function library which allows ChatGPT to adapt to different robotics tasks, simulators, and form factors. We focus our evaluations on the effectiveness of different prompt engineering techniques and dialog strategies towards the execution of various types of robotics tasks. We explore ChatGPT's ability to use free-form dialog, parse XML tags, and to synthesize code, in addition to the use of task-specific prompting functions and closed-loop reasoning through dialogues. Our study encompasses a range of tasks within the robotics domain, from basic logical, geometrical, and mathematical reasoning all the way to complex domains such as aerial navigation, manipulation, and embodied agents. We show that ChatGPT can be effective at solving several of such tasks, while allowing users to interact with it primarily via natural language instructions. In addition to these studies, we introduce an open-sourced research tool called PromptCraft, which contains a platform where researchers can collaboratively upload and vote on examples of good prompting schemes for robotics applications, as well as a sample robotics simulator with ChatGPT integration, making it easier for users to get started with using ChatGPT for robotics.

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.

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals or distinct tasks, even during execution. However, most traditional methods require predefined module design, which makes it hard to generalize to different goals. Recent large language model based approaches can allow for more open-ended planning but often require heavy prompt engineering or domain-specific pretrained models. To tackle this, we propose a simple framework that achieves interactive task planning with language models. Our system incorporates both high-level planning and low-level function execution via language. We verify the robustness of our system in generating novel high-level instructions for unseen objectives and its ease of adaptation to different tasks by merely substituting the task guidelines, without the need for additional complex prompt engineering. Furthermore, when the user sends a new request, our system is able to replan accordingly with precision based on the new request, task guidelines and previously executed steps. Please check more details on our https://wuphilipp.github.io/itp_site and https://youtu.be/TrKLuyv26_g.

Grounding 3D object affordance seeks to locate objects' ''action possibilities'' regions in the 3D space, which serves as a link between perception and operation for embodied agents. Existing studies primarily focus on connecting visual affordances with geometry structures, e.g. relying on annotations to declare interactive regions of interest on the object and establishing a mapping between the regions and affordances. However, the essence of learning object affordance is to understand how to use it, and the manner that detaches interactions is limited in generalization. Normally, humans possess the ability to perceive object affordances in the physical world through demonstration images or videos. Motivated by this, we introduce a novel task setting: grounding 3D object affordance from 2D interactions in images, which faces the challenge of anticipating affordance through interactions of different sources. To address this problem, we devise a novel Interaction-driven 3D Affordance Grounding Network (IAG), which aligns the region feature of objects from different sources and models the interactive contexts for 3D object affordance grounding. Besides, we collect a Point-Image Affordance Dataset (PIAD) to support the proposed task. Comprehensive experiments on PIAD demonstrate the reliability of the proposed task and the superiority of our method. The project is available at https://github.com/yyvhang/IAGNet.

Zero-shot Human-Object Interaction (HOI) detection has emerged as a frontier topic due to its capability to detect HOIs beyond a predefined set of categories. This task entails not only identifying the interactiveness of human-object pairs and localizing them but also recognizing both seen and unseen interaction categories. In this paper, we introduce a novel framework for zero-shot HOI detection using Conditional Multi-Modal Prompts, namely CMMP. This approach enhances the generalization of large foundation models, such as CLIP, when fine-tuned for HOI detection. Unlike traditional prompt-learning methods, we propose learning decoupled vision and language prompts for interactiveness-aware visual feature extraction and generalizable interaction classification, respectively. Specifically, we integrate prior knowledge of different granularity into conditional vision prompts, including an input-conditioned instance prior and a global spatial pattern prior. The former encourages the image encoder to treat instances belonging to seen or potentially unseen HOI concepts equally while the latter provides representative plausible spatial configuration of the human and object under interaction. Besides, we employ language-aware prompt learning with a consistency constraint to preserve the knowledge of the large foundation model to enable better generalization in the text branch. Extensive experiments demonstrate the efficacy of our detector with conditional multi-modal prompts, outperforming previous state-of-the-art on unseen classes of various zero-shot settings. The code and models are available at https://github.com/ltttpku/CMMP.

We address the problem of generating realistic 3D motions of humans interacting with objects in a scene. Our key idea is to create a neural interaction field attached to a specific object, which outputs the distance to the valid interaction manifold given a human pose as input. This interaction field guides the sampling of an object-conditioned human motion diffusion model, so as to encourage plausible contacts and affordance semantics. To support interactions with scarcely available data, we propose an automated synthetic data pipeline. For this, we seed a pre-trained motion model, which has priors for the basics of human movement, with interaction-specific anchor poses extracted from limited motion capture data. Using our guided diffusion model trained on generated synthetic data, we synthesize realistic motions for sitting and lifting with several objects, outperforming alternative approaches in terms of motion quality and successful action completion. We call our framework NIFTY: Neural Interaction Fields for Trajectory sYnthesis.

Fine-grained capturing of 3D HOI boosts human activity understanding and facilitates downstream visual tasks, including action recognition, holistic scene reconstruction, and human motion synthesis. Despite its significance, existing works mostly assume that humans interact with rigid objects using only a few body parts, limiting their scope. In this paper, we address the challenging problem of f-AHOI, wherein the whole human bodies interact with articulated objects, whose parts are connected by movable joints. We present CHAIRS, a large-scale motion-captured f-AHOI dataset, consisting of 16.2 hours of versatile interactions between 46 participants and 81 articulated and rigid sittable objects. CHAIRS provides 3D meshes of both humans and articulated objects during the entire interactive process, as well as realistic and physically plausible full-body interactions. We show the value of CHAIRS with object pose estimation. By learning the geometrical relationships in HOI, we devise the very first model that leverage human pose estimation to tackle the estimation of articulated object poses and shapes during whole-body interactions. Given an image and an estimated human pose, our model first reconstructs the pose and shape of the object, then optimizes the reconstruction according to a learned interaction prior. Under both evaluation settings (e.g., with or without the knowledge of objects' geometries/structures), our model significantly outperforms baselines. We hope CHAIRS will promote the community towards finer-grained interaction understanding. We will make the data/code publicly available.

Understanding the inherent human knowledge in interacting with a given environment (e.g., affordance) is essential for improving AI to better assist humans. While existing approaches primarily focus on human-object contacts during interactions, such affordance representation cannot fully address other important aspects of human-object interactions (HOIs), i.e., patterns of relative positions and orientations. In this paper, we introduce a novel affordance representation, named Comprehensive Affordance (ComA). Given a 3D object mesh, ComA models the distribution of relative orientation and proximity of vertices in interacting human meshes, capturing plausible patterns of contact, relative orientations, and spatial relationships. To construct the distribution, we present a novel pipeline that synthesizes diverse and realistic 3D HOI samples given any 3D object mesh. The pipeline leverages a pre-trained 2D inpainting diffusion model to generate HOI images from object renderings and lifts them into 3D. To avoid the generation of false affordances, we propose a new inpainting framework, Adaptive Mask Inpainting. Since ComA is built on synthetic samples, it can extend to any object in an unbounded manner. Through extensive experiments, we demonstrate that ComA outperforms competitors that rely on human annotations in modeling contact-based affordance. Importantly, we also showcase the potential of ComA to reconstruct human-object interactions in 3D through an optimization framework, highlighting its advantage in incorporating both contact and non-contact properties.

We introduce a dynamic benchmarking system for conversational agents that evaluates their performance through a single, simulated, and lengthy userleftrightarrowagent interaction. The interaction is a conversation between the user and agent, where multiple tasks are introduced and then undertaken concurrently. We context switch regularly to interleave the tasks, which constructs a realistic testing scenario in which we assess the Long-Term Memory, Continual Learning, and Information Integration capabilities of the agents. Results from both proprietary and open-source Large-Language Models show that LLMs in general perform well on single-task interactions, but they struggle on the same tasks when they are interleaved. Notably, short-context LLMs supplemented with an LTM system perform as well as or better than those with larger contexts. Our benchmark suggests that there are other challenges for LLMs responding to more natural interactions that contemporary benchmarks have heretofore not been able to capture.

We introduce Language-Informed Latent Actions (LILA), a framework for learning natural language interfaces in the context of human-robot collaboration. LILA falls under the shared autonomy paradigm: in addition to providing discrete language inputs, humans are given a low-dimensional controller - e.g., a 2 degree-of-freedom (DoF) joystick that can move left/right and up/down - for operating the robot. LILA learns to use language to modulate this controller, providing users with a language-informed control space: given an instruction like "place the cereal bowl on the tray," LILA may learn a 2-DoF space where one dimension controls the distance from the robot's end-effector to the bowl, and the other dimension controls the robot's end-effector pose relative to the grasp point on the bowl. We evaluate LILA with real-world user studies, where users can provide a language instruction while operating a 7-DoF Franka Emika Panda Arm to complete a series of complex manipulation tasks. We show that LILA models are not only more sample efficient and performant than imitation learning and end-effector control baselines, but that they are also qualitatively preferred by users.

Crafting effective prompts for code generation or editing with Large Language Models (LLMs) is not an easy task. Particularly, the absence of immediate, stable feedback during prompt crafting hinders effective interaction, as users are left to mentally imagine possible outcomes until the code is generated. In response, we introduce Language-Oriented Code Sketching, an interactive approach that provides instant, incremental feedback in the form of code sketches (i.e., incomplete code outlines) during prompt crafting. This approach converts a prompt into a code sketch by leveraging the inherent linguistic structures within the prompt and applying classic natural language processing techniques. The sketch then serves as an intermediate placeholder that not only previews the intended code structure but also guides the LLM towards the desired code, thereby enhancing human-LLM interaction. We conclude by discussing the approach's applicability and future plans.

3D object generation has undergone significant advancements, yielding high-quality results. However, fall short of achieving precise user control, often yielding results that do not align with user expectations, thus limiting their applicability. User-envisioning 3D object generation faces significant challenges in realizing its concepts using current generative models due to limited interaction capabilities. Existing methods mainly offer two approaches: (i) interpreting textual instructions with constrained controllability, or (ii) reconstructing 3D objects from 2D images. Both of them limit customization to the confines of the 2D reference and potentially introduce undesirable artifacts during the 3D lifting process, restricting the scope for direct and versatile 3D modifications. In this work, we introduce Interactive3D, an innovative framework for interactive 3D generation that grants users precise control over the generative process through extensive 3D interaction capabilities. Interactive3D is constructed in two cascading stages, utilizing distinct 3D representations. The first stage employs Gaussian Splatting for direct user interaction, allowing modifications and guidance of the generative direction at any intermediate step through (i) Adding and Removing components, (ii) Deformable and Rigid Dragging, (iii) Geometric Transformations, and (iv) Semantic Editing. Subsequently, the Gaussian splats are transformed into InstantNGP. We introduce a novel (v) Interactive Hash Refinement module to further add details and extract the geometry in the second stage. Our experiments demonstrate that Interactive3D markedly improves the controllability and quality of 3D generation. Our project webpage is available at https://interactive-3d.github.io/.

Utilizing Large Language Models (LLMs) for complex tasks is challenging, often involving a time-consuming and uncontrollable prompt engineering process. This paper introduces a novel human-LLM interaction framework, Low-code LLM. It incorporates six types of simple low-code visual programming interactions to achieve more controllable and stable responses. Through visual interaction with a graphical user interface, users can incorporate their ideas into the process without writing trivial prompts. The proposed Low-code LLM framework consists of a Planning LLM that designs a structured planning workflow for complex tasks, which can be correspondingly edited and confirmed by users through low-code visual programming operations, and an Executing LLM that generates responses following the user-confirmed workflow. We highlight three advantages of the low-code LLM: user-friendly interaction, controllable generation, and wide applicability. We demonstrate its benefits using four typical applications. By introducing this framework, we aim to bridge the gap between humans and LLMs, enabling more effective and efficient utilization of LLMs for complex tasks. The code, prompts, and experimental details are available at https://github.com/moymix/TaskMatrix/tree/main/LowCodeLLM. A system demonstration video can be found at https://www.youtube.com/watch?v=jb2C1vaeO3E.

Recent successes in image synthesis are powered by large-scale diffusion models. However, most methods are currently limited to either text- or image-conditioned generation for synthesizing an entire image, texture transfer or inserting objects into a user-specified region. In contrast, in this work we focus on synthesizing complex interactions (ie, an articulated hand) with a given object. Given an RGB image of an object, we aim to hallucinate plausible images of a human hand interacting with it. We propose a two-step generative approach: a LayoutNet that samples an articulation-agnostic hand-object-interaction layout, and a ContentNet that synthesizes images of a hand grasping the object given the predicted layout. Both are built on top of a large-scale pretrained diffusion model to make use of its latent representation. Compared to baselines, the proposed method is shown to generalize better to novel objects and perform surprisingly well on out-of-distribution in-the-wild scenes of portable-sized objects. The resulting system allows us to predict descriptive affordance information, such as hand articulation and approaching orientation. Project page: https://judyye.github.io/affordiffusion-www

We extend JAX with the capability to automatically differentiate higher-order functions (functionals and operators). By representing functions as a generalization of arrays, we seamlessly use JAX's existing primitive system to implement higher-order functions. We present a set of primitive operators that serve as foundational building blocks for constructing several key types of functionals. For every introduced primitive operator, we derive and implement both linearization and transposition rules, aligning with JAX's internal protocols for forward and reverse mode automatic differentiation. This enhancement allows for functional differentiation in the same syntax traditionally use for functions. The resulting functional gradients are themselves functions ready to be invoked in python. We showcase this tool's efficacy and simplicity through applications where functional derivatives are indispensable. The source code of this work is released at https://github.com/sail-sg/autofd .

Understanding the ability of humans to use objects is crucial for AI to improve daily life. Existing studies for learning such ability focus on human-object patterns (e.g., contact, spatial relation, orientation) in static situations, and learning Human-Object Interaction (HOI) patterns over time (i.e., movement of human and object) is relatively less explored. In this paper, we introduce a novel type of affordance named Dynamic Affordance. For a given input 3D object mesh, we learn dynamic affordance which models the distribution of both (1) human motion and (2) human-guided object pose during interactions. As a core idea, we present a method to learn the 3D dynamic affordance from synthetically generated 2D videos, leveraging a pre-trained video diffusion model. Specifically, we propose a pipeline that first generates 2D HOI videos from the 3D object and then lifts them into 3D to generate 4D HOI samples. Once we generate diverse 4D HOI samples on various target objects, we train our DAViD, where we present a method based on the Low-Rank Adaptation (LoRA) module for pre-trained human motion diffusion model (MDM) and an object pose diffusion model with human pose guidance. Our motion diffusion model is extended for multi-object interactions, demonstrating the advantage of our pipeline with LoRA for combining the concepts of object usage. Through extensive experiments, we demonstrate our DAViD outperforms the baselines in generating human motion with HOIs.

Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to advance the capabilities of robotic control. However, since low-level robot actions are hardware-dependent and underrepresented in LLM training corpora, existing efforts in applying LLMs to robotics have largely treated LLMs as semantic planners or relied on human-engineered control primitives to interface with the robot. On the other hand, reward functions are shown to be flexible representations that can be optimized for control policies to achieve diverse tasks, while their semantic richness makes them suitable to be specified by LLMs. In this work, we introduce a new paradigm that harnesses this realization by utilizing LLMs to define reward parameters that can be optimized and accomplish variety of robotic tasks. Using reward as the intermediate interface generated by LLMs, we can effectively bridge the gap between high-level language instructions or corrections to low-level robot actions. Meanwhile, combining this with a real-time optimizer, MuJoCo MPC, empowers an interactive behavior creation experience where users can immediately observe the results and provide feedback to the system. To systematically evaluate the performance of our proposed method, we designed a total of 17 tasks for a simulated quadruped robot and a dexterous manipulator robot. We demonstrate that our proposed method reliably tackles 90% of the designed tasks, while a baseline using primitive skills as the interface with Code-as-policies achieves 50% of the tasks. We further validated our method on a real robot arm where complex manipulation skills such as non-prehensile pushing emerge through our interactive system.

Generating human-object interactions (HOIs) is critical with the tremendous advances of digital avatars. Existing datasets are typically limited to humans interacting with a single object while neglecting the ubiquitous manipulation of multiple objects. Thus, we propose HIMO, a large-scale MoCap dataset of full-body human interacting with multiple objects, containing 3.3K 4D HOI sequences and 4.08M 3D HOI frames. We also annotate HIMO with detailed textual descriptions and temporal segments, benchmarking two novel tasks of HOI synthesis conditioned on either the whole text prompt or the segmented text prompts as fine-grained timeline control. To address these novel tasks, we propose a dual-branch conditional diffusion model with a mutual interaction module for HOI synthesis. Besides, an auto-regressive generation pipeline is also designed to obtain smooth transitions between HOI segments. Experimental results demonstrate the generalization ability to unseen object geometries and temporal compositions.

Building embodied AI systems that can follow arbitrary language instructions in any 3D environment is a key challenge for creating general AI. Accomplishing this goal requires learning to ground language in perception and embodied actions, in order to accomplish complex tasks. The Scalable, Instructable, Multiworld Agent (SIMA) project tackles this by training agents to follow free-form instructions across a diverse range of virtual 3D environments, including curated research environments as well as open-ended, commercial video games. Our goal is to develop an instructable agent that can accomplish anything a human can do in any simulated 3D environment. Our approach focuses on language-driven generality while imposing minimal assumptions. Our agents interact with environments in real-time using a generic, human-like interface: the inputs are image observations and language instructions and the outputs are keyboard-and-mouse actions. This general approach is challenging, but it allows agents to ground language across many visually complex and semantically rich environments while also allowing us to readily run agents in new environments. In this paper we describe our motivation and goal, the initial progress we have made, and promising preliminary results on several diverse research environments and a variety of commercial video games.

LLMs have demonstrated commendable performance across diverse domains. Nevertheless, formulating high-quality prompts to assist them in their work poses a challenge for non-AI experts. Existing research in prompt engineering suggests somewhat scattered optimization principles and designs empirically dependent prompt optimizers. Unfortunately, these endeavors lack a structural design, incurring high learning costs and it is not conducive to the iterative updating of prompts, especially for non-AI experts. Inspired by structured reusable programming languages, we propose LangGPT, a structural prompt design framework. Furthermore, we introduce Minstrel, a multi-generative agent system with reflection to automate the generation of structural prompts. Experiments and the case study illustrate that structural prompts generated by Minstrel or written manually significantly enhance the performance of LLMs. Furthermore, we analyze the ease of use of structural prompts through a user survey in our online community.

Recent advancements in diffusion models have led to significant improvements in the generation and animation of 4D full-body human-object interactions (HOI). Nevertheless, existing methods primarily focus on SMPL-based motion generation, which is limited by the scarcity of realistic large-scale interaction data. This constraint affects their ability to create everyday HOI scenes. This paper addresses this challenge using a zero-shot approach with a pre-trained diffusion model. Despite this potential, achieving our goals is difficult due to the diffusion model's lack of understanding of ''where'' and ''how'' objects interact with the human body. To tackle these issues, we introduce AvatarGO, a novel framework designed to generate animatable 4D HOI scenes directly from textual inputs. Specifically, 1) for the ''where'' challenge, we propose LLM-guided contact retargeting, which employs Lang-SAM to identify the contact body part from text prompts, ensuring precise representation of human-object spatial relations. 2) For the ''how'' challenge, we introduce correspondence-aware motion optimization that constructs motion fields for both human and object models using the linear blend skinning function from SMPL-X. Our framework not only generates coherent compositional motions, but also exhibits greater robustness in handling penetration issues. Extensive experiments with existing methods validate AvatarGO's superior generation and animation capabilities on a variety of human-object pairs and diverse poses. As the first attempt to synthesize 4D avatars with object interactions, we hope AvatarGO could open new doors for human-centric 4D content creation.

Graphical User Interface (or simply UI) is a primary mean of interaction between users and their device. In this paper, we discuss three major complementary approaches on how to use Artificial Intelligence (AI) to support app designers create better, more diverse, and creative UI of mobile apps. First, designers can prompt a Large Language Model (LLM) like GPT to directly generate and adjust one or multiple UIs. Second, a Vision-Language Model (VLM) enables designers to effectively search a large screenshot dataset, e.g. from apps published in app stores. The third approach is to train a Diffusion Model (DM) specifically designed to generate app UIs as inspirational images. We discuss how AI should be used, in general, to inspire and assist creative app design rather than automating it.

This research paper delves into the integration of OpenAI's ChatGPT into embodied agent systems, evaluating its influence on interactive decision-making benchmark. Drawing a parallel to the concept of people assuming roles according to their unique strengths, we introduce InterAct. In this approach, we feed ChatGPT with varied prompts, assigning it a numerous roles like a checker and a sorter, then integrating them with the original language model. Our research shows a remarkable success rate of 98% in AlfWorld, which consists of 6 different tasks in a simulated household environment, emphasizing the significance of proficient prompt engineering. The results highlight ChatGPT's competence in comprehending and performing intricate tasks effectively in real-world settings, thus paving the way for further advancements in task planning.

Given a set of calibrated images of a scene, we present an approach that produces a simple, compact, and actionable 3D world representation by means of 3D primitives. While many approaches focus on recovering high-fidelity 3D scenes, we focus on parsing a scene into mid-level 3D representations made of a small set of textured primitives. Such representations are interpretable, easy to manipulate and suited for physics-based simulations. Moreover, unlike existing primitive decomposition methods that rely on 3D input data, our approach operates directly on images through differentiable rendering. Specifically, we model primitives as textured superquadric meshes and optimize their parameters from scratch with an image rendering loss. We highlight the importance of modeling transparency for each primitive, which is critical for optimization and also enables handling varying numbers of primitives. We show that the resulting textured primitives faithfully reconstruct the input images and accurately model the visible 3D points, while providing amodal shape completions of unseen object regions. We compare our approach to the state of the art on diverse scenes from DTU, and demonstrate its robustness on real-life captures from BlendedMVS and Nerfstudio. We also showcase how our results can be used to effortlessly edit a scene or perform physical simulations. Code and video results are available at https://www.tmonnier.com/DBW .

Affordance denotes the potential interactions inherent in objects. The perception of affordance can enable intelligent agents to navigate and interact with new environments efficiently. Weakly supervised affordance grounding teaches agents the concept of affordance without costly pixel-level annotations, but with exocentric images. Although recent advances in weakly supervised affordance grounding yielded promising results, there remain challenges including the requirement for paired exocentric and egocentric image dataset, and the complexity in grounding diverse affordances for a single object. To address them, we propose INTeraction Relationship-aware weakly supervised Affordance grounding (INTRA). Unlike prior arts, INTRA recasts this problem as representation learning to identify unique features of interactions through contrastive learning with exocentric images only, eliminating the need for paired datasets. Moreover, we leverage vision-language model embeddings for performing affordance grounding flexibly with any text, designing text-conditioned affordance map generation to reflect interaction relationship for contrastive learning and enhancing robustness with our text synonym augmentation. Our method outperformed prior arts on diverse datasets such as AGD20K, IIT-AFF, CAD and UMD. Additionally, experimental results demonstrate that our method has remarkable domain scalability for synthesized images / illustrations and is capable of performing affordance grounding for novel interactions and objects.

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the low-level trajectories themselves. In this work, we address this assumption thoroughly, and investigate if an LLM (GPT-4) can directly predict a dense sequence of end-effector poses for manipulation skills, when given access to only object detection and segmentation vision models. We study how well a single task-agnostic prompt, without any in-context examples, motion primitives, or external trajectory optimisers, can perform across 26 real-world language-based tasks, such as "open the bottle cap" and "wipe the plate with the sponge", and we investigate which design choices in this prompt are the most effective. Our conclusions raise the assumed limit of LLMs for robotics, and we reveal for the first time that LLMs do indeed possess an understanding of low-level robot control sufficient for a range of common tasks, and that they can additionally detect failures and then re-plan trajectories accordingly. Videos, code, and prompts are available at: https://www.robot-learning.uk/language-models-trajectory-generators.

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.

Prompting interfaces allow users to quickly adjust the output of generative models in both vision and language. However, small changes and design choices in the prompt can lead to significant differences in the output. In this work, we develop a black-box framework for generating adversarial prompts for unstructured image and text generation. These prompts, which can be standalone or prepended to benign prompts, induce specific behaviors into the generative process, such as generating images of a particular object or generating high perplexity text.

Graphical User Interfaces (GUIs) are critical to human-computer interaction, yet automating GUI tasks remains challenging due to the complexity and variability of visual environments. Existing approaches often rely on textual representations of GUIs, which introduce limitations in generalization, efficiency, and scalability. In this paper, we introduce Aguvis, a unified pure vision-based framework for autonomous GUI agents that operates across various platforms. Our approach leverages image-based observations, and grounding instructions in natural language to visual elements, and employs a consistent action space to ensure cross-platform generalization. To address the limitations of previous work, we integrate explicit planning and reasoning within the model, enhancing its ability to autonomously navigate and interact with complex digital environments. We construct a large-scale dataset of GUI agent trajectories, incorporating multimodal reasoning and grounding, and employ a two-stage training pipeline that first focuses on general GUI grounding, followed by planning and reasoning. Through comprehensive experiments, we demonstrate that Aguvis surpasses previous state-of-the-art methods in both offline and real-world online scenarios, achieving, to our knowledge, the first fully autonomous pure vision GUI agent capable of performing tasks independently without collaboration with external closed-source models. We open-sourced all datasets, models, and training recipes to facilitate future research at https://aguvis-project.github.io/.

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an approach to use foot contact patterns as an interface that bridges human commands in natural language and a locomotion controller that outputs these low-level commands. This results in an interactive system for quadrupedal robots that allows the users to craft diverse locomotion behaviors flexibly. We contribute an LLM prompt design, a reward function, and a method to expose the controller to the feasible distribution of contact patterns. The results are a controller capable of achieving diverse locomotion patterns that can be transferred to real robot hardware. Compared with other design choices, the proposed approach enjoys more than 50% success rate in predicting the correct contact patterns and can solve 10 more tasks out of a total of 30 tasks. Our project site is: https://saytap.github.io.

The proliferation of applications using artificial intelligence (AI) systems has led to a growing number of users interacting with these systems through sophisticated interfaces. Human-computer interaction research has long shown that interfaces shape both user behavior and user perception of technical capabilities and risks. Yet, practitioners and researchers evaluating the social and ethical risks of AI systems tend to overlook the impact of anthropomorphic, deceptive, and immersive interfaces on human-AI interactions. Here, we argue that design features of interfaces with adaptive AI systems can have cascading impacts, driven by feedback loops, which extend beyond those previously considered. We first conduct a scoping review of AI interface designs and their negative impact to extract salient themes of potentially harmful design patterns in AI interfaces. Then, we propose Design-Enhanced Control of AI systems (DECAI), a conceptual model to structure and facilitate impact assessments of AI interface designs. DECAI draws on principles from control systems theory -- a theory for the analysis and design of dynamic physical systems -- to dissect the role of the interface in human-AI systems. Through two case studies on recommendation systems and conversational language model systems, we show how DECAI can be used to evaluate AI interface designs.

Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by language descriptions in 3D scenes. We propose Controllable Human-Object Interaction Synthesis (CHOIS), an approach that generates object motion and human motion simultaneously using a conditional diffusion model given a language description, initial object and human states, and sparse object waypoints. While language descriptions inform style and intent, waypoints ground the motion in the scene and can be effectively extracted using high-level planning methods. Naively applying a diffusion model fails to predict object motion aligned with the input waypoints and cannot ensure the realism of interactions that require precise hand-object contact and appropriate contact grounded by the floor. To overcome these problems, we introduce an object geometry loss as additional supervision to improve the matching between generated object motion and input object waypoints. In addition, we design guidance terms to enforce contact constraints during the sampling process of the trained diffusion model.

Recent advances in foundation models, particularly Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs), facilitate intelligent agents being capable of performing complex tasks. By leveraging the ability of (M)LLMs to process and interpret Graphical User Interfaces (GUIs), these agents can autonomously execute user instructions by simulating human-like interactions such as clicking and typing. This survey consolidates recent research on (M)LLM-based GUI agents, highlighting key innovations in data, frameworks, and applications. We begin by discussing representative datasets and benchmarks. Next, we summarize a unified framework that captures the essential components used in prior research, accompanied by a taxonomy. Additionally, we explore commercial applications of (M)LLM-based GUI agents. Drawing from existing work, we identify several key challenges and propose future research directions. We hope this paper will inspire further developments in the field of (M)LLM-based GUI agents.

Interactive segmentation enables users to segment as needed by providing cues of objects, which introduces human-computer interaction for many fields, such as image editing and medical image analysis. Typically, massive and expansive pixel-level annotations are spent to train deep models by object-oriented interactions with manually labeled object masks. In this work, we reveal that informative interactions can be made by simulation with semantic-consistent yet diverse region exploration in an unsupervised paradigm. Concretely, we introduce a Multi-granularity Interaction Simulation (MIS) approach to open up a promising direction for unsupervised interactive segmentation. Drawing on the high-quality dense features produced by recent self-supervised models, we propose to gradually merge patches or regions with similar features to form more extensive regions and thus, every merged region serves as a semantic-meaningful multi-granularity proposal. By randomly sampling these proposals and simulating possible interactions based on them, we provide meaningful interaction at multiple granularities to teach the model to understand interactions. Our MIS significantly outperforms non-deep learning unsupervised methods and is even comparable with some previous deep-supervised methods without any annotation.

Autonomous user interface (UI) agents aim to facilitate task automation by interacting with the user interface without manual intervention. Recent studies have investigated eliciting the capabilities of large language models (LLMs) for effective engagement in diverse environments. To align with the input-output requirement of LLMs, existing approaches are developed under a sandbox setting where they rely on external tools and application-specific APIs to parse the environment into textual elements and interpret the predicted actions. Consequently, those approaches often grapple with inference inefficiency and error propagation risks. To mitigate the challenges, we introduce Auto-UI, a multimodal solution that directly interacts with the interface, bypassing the need for environment parsing or reliance on application-dependent APIs. Moreover, we propose a chain-of-action technique -- leveraging a series of intermediate previous action histories and future action plans -- to help the agent decide what action to execute. We evaluate our approach on a new device-control benchmark AITW with 30K unique instructions, spanning multi-step tasks such as application operation, web searching, and web shopping. Experimental results show that Auto-UI achieves state-of-the-art performance with an action type prediction accuracy of 90% and an overall action success rate of 74%. Code is publicly available at https://github.com/cooelf/Auto-UI.

Naturally controllable human-scene interaction (HSI) generation has an important role in various fields, such as VR/AR content creation and human-centered AI. However, existing methods are unnatural and unintuitive in their controllability, which heavily limits their application in practice. Therefore, we focus on a challenging task of naturally and controllably generating realistic and diverse HSIs from textual descriptions. From human cognition, the ideal generative model should correctly reason about spatial relationships and interactive actions. To that end, we propose Narrator, a novel relationship reasoning-based generative approach using a conditional variation autoencoder for naturally controllable generation given a 3D scene and a textual description. Also, we model global and local spatial relationships in a 3D scene and a textual description respectively based on the scene graph, and introduce a partlevel action mechanism to represent interactions as atomic body part states. In particular, benefiting from our relationship reasoning, we further propose a simple yet effective multi-human generation strategy, which is the first exploration for controllable multi-human scene interaction generation. Our extensive experiments and perceptual studies show that Narrator can controllably generate diverse interactions and significantly outperform existing works. The code and dataset will be available for research purposes.

Humans show an innate capability to identify tools to support specific actions. The association between objects parts and the actions they facilitate is usually named affordance. Being able to segment objects parts depending on the tasks they afford is crucial to enable intelligent robots to use objects of daily living. Traditional supervised learning methods for affordance segmentation require costly pixel-level annotations, while weakly supervised approaches, though less demanding, still rely on object-interaction examples and support a closed set of actions. These limitations hinder scalability, may introduce biases, and usually restrict models to a limited set of predefined actions. This paper proposes AffordanceCLIP, to overcome these limitations by leveraging the implicit affordance knowledge embedded within large pre-trained Vision-Language models like CLIP. We experimentally demonstrate that CLIP, although not explicitly trained for affordances detection, retains valuable information for the task. Our AffordanceCLIP achieves competitive zero-shot performance compared to methods with specialized training, while offering several advantages: i) it works with any action prompt, not just a predefined set; ii) it requires training only a small number of additional parameters compared to existing solutions and iii) eliminates the need for direct supervision on action-object pairs, opening new perspectives for functionality-based reasoning of models.

Spatio-temporal Human-Object Interaction (ST-HOI) understanding aims at detecting HOIs from videos, which is crucial for activity understanding. However, existing whole-body-object interaction video benchmarks overlook the truth that open-world objects are diverse, that is, they usually provide limited and predefined object classes. Therefore, we introduce a new open-world benchmark: Grounding Interacted Objects (GIO) including 1,098 interacted objects class and 290K interacted object boxes annotation. Accordingly, an object grounding task is proposed expecting vision systems to discover interacted objects. Even though today's detectors and grounding methods have succeeded greatly, they perform unsatisfactorily in localizing diverse and rare objects in GIO. This profoundly reveals the limitations of current vision systems and poses a great challenge. Thus, we explore leveraging spatio-temporal cues to address object grounding and propose a 4D question-answering framework (4D-QA) to discover interacted objects from diverse videos. Our method demonstrates significant superiority in extensive experiments compared to current baselines. Data and code will be publicly available at https://github.com/DirtyHarryLYL/HAKE-AVA.

As AI systems enter into a growing number of societal domains, these systems increasingly shape and are shaped by user preferences, opinions, and behaviors. However, the design of AI systems rarely accounts for how AI and users shape one another. In this position paper, we argue for the development of formal interaction models which mathematically specify how AI and users shape one another. Formal interaction models can be leveraged to (1) specify interactions for implementation, (2) monitor interactions through empirical analysis, (3) anticipate societal impacts via counterfactual analysis, and (4) control societal impacts via interventions. The design space of formal interaction models is vast, and model design requires careful consideration of factors such as style, granularity, mathematical complexity, and measurability. Using content recommender systems as a case study, we critically examine the nascent literature of formal interaction models with respect to these use-cases and design axes. More broadly, we call for the community to leverage formal interaction models when designing, evaluating, or auditing any AI system which interacts with users.

The advent of large language models (LLMs) has spurred considerable interest in advancing autonomous LLMs-based agents, particularly in intriguing applications within smartphone graphical user interfaces (GUIs). When presented with a task goal, these agents typically emulate human actions within a GUI environment until the task is completed. However, a key challenge lies in devising effective plans to guide action prediction in GUI tasks, though planning have been widely recognized as effective for decomposing complex tasks into a series of steps. Specifically, given the dynamic nature of environmental GUIs following action execution, it is crucial to dynamically adapt plans based on environmental feedback and action history.We show that the widely-used ReAct approach fails due to the excessively long historical dialogues. To address this challenge, we propose a novel approach called Dynamic Planning of Thoughts (D-PoT) for LLM-based GUI agents.D-PoT involves the dynamic adjustment of planning based on the environmental feedback and execution history. Experimental results reveal that the proposed D-PoT significantly surpassed the strong GPT-4V baseline by +12.7% (34.66% rightarrow 47.36%) in accuracy. The analysis highlights the generality of dynamic planning in different backbone LLMs, as well as the benefits in mitigating hallucinations and adapting to unseen tasks. Code is available at https://github.com/sqzhang-lazy/D-PoT.

We present an interactive visual framework named InternChat, or iChat for short. The framework integrates chatbots that have planning and reasoning capabilities, such as ChatGPT, with non-verbal instructions like pointing movements that enable users to directly manipulate images or videos on the screen. Pointing (including gestures, cursors, etc.) movements can provide more flexibility and precision in performing vision-centric tasks that require fine-grained control, editing, and generation of visual content. The name InternChat stands for interaction, nonverbal, and chatbots. Different from existing interactive systems that rely on pure language, by incorporating pointing instructions, the proposed iChat significantly improves the efficiency of communication between users and chatbots, as well as the accuracy of chatbots in vision-centric tasks, especially in complicated visual scenarios where the number of objects is greater than 2. Additionally, in iChat, an auxiliary control mechanism is used to improve the control capability of LLM, and a large vision-language model termed Husky is fine-tuned for high-quality multi-modal dialogue (impressing ChatGPT-3.5-turbo with 93.89% GPT-4 Quality). We hope this work can spark new ideas and directions for future interactive visual systems. Welcome to watch the code at https://github.com/OpenGVLab/InternChat.

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.

Most existing GUI agents typically depend on non-vision inputs like HTML source code or accessibility trees, limiting their flexibility across diverse software environments and platforms. Current multimodal large language models (MLLMs), which excel at using vision to ground real-world objects, offer a potential alternative. However, they often struggle with accurately localizing GUI elements -- a critical requirement for effective GUI automation -- due to the semantic gap between real-world objects and GUI elements. In this work, we introduce Ponder & Press, a divide-and-conquer framework for general computer control using only visual input. Our approach combines an general-purpose MLLM as an 'interpreter', responsible for translating high-level user instructions into detailed action descriptions, with a GUI-specific MLLM as a 'locator' that precisely locates GUI elements for action placement. By leveraging a purely visual input, our agent offers a versatile, human-like interaction paradigm applicable to a wide range of applications. Ponder & Press locator outperforms existing models by +22.5% on the ScreenSpot GUI grounding benchmark. Both offline and interactive agent benchmarks across various GUI environments -- including web pages, desktop software, and mobile UIs -- demonstrate that Ponder & Press framework achieves state-of-the-art performance, highlighting the potential of visual GUI agents. Refer to the project homepage https://invinciblewyq.github.io/ponder-press-page/

Diffusion models revolutionize image generation by leveraging natural language to guide the creation of multimedia content. Despite significant advancements in such generative models, challenges persist in depicting detailed human-object interactions, especially regarding pose and object placement accuracy. We introduce a training-free method named Reasoning and Correcting Diffusion (ReCorD) to address these challenges. Our model couples Latent Diffusion Models with Visual Language Models to refine the generation process, ensuring precise depictions of HOIs. We propose an interaction-aware reasoning module to improve the interpretation of the interaction, along with an interaction correcting module to refine the output image for more precise HOI generation delicately. Through a meticulous process of pose selection and object positioning, ReCorD achieves superior fidelity in generated images while efficiently reducing computational requirements. We conduct comprehensive experiments on three benchmarks to demonstrate the significant progress in solving text-to-image generation tasks, showcasing ReCorD's ability to render complex interactions accurately by outperforming existing methods in HOI classification score, as well as FID and Verb CLIP-Score. Project website is available at https://alberthkyhky.github.io/ReCorD/ .

LLMs have demonstrated commendable performance across diverse domains. Nevertheless, formulating high-quality prompts to instruct LLMs proficiently poses a challenge for non-AI experts. Existing research in prompt engineering suggests somewhat scattered optimization principles and designs empirically dependent prompt optimizers. Unfortunately, these endeavors lack a structured design template, incurring high learning costs and resulting in low reusability. In addition, it is not conducive to the iterative updating of prompts. Inspired by structured reusable programming languages, we propose LangGPT, a dual-layer prompt design framework as the programming language for LLMs. LangGPT has an easy-to-learn normative structure and provides an extended structure for migration and reuse. Experiments illustrate that LangGPT significantly enhances the performance of LLMs. Moreover, the case study shows that LangGPT leads LLMs to generate higher-quality responses. Furthermore, we analyzed the ease of use and reusability of LangGPT through a user survey in our online community.

We introduce InteractiveVideo, a user-centric framework for video generation. Different from traditional generative approaches that operate based on user-provided images or text, our framework is designed for dynamic interaction, allowing users to instruct the generative model through various intuitive mechanisms during the whole generation process, e.g. text and image prompts, painting, drag-and-drop, etc. We propose a Synergistic Multimodal Instruction mechanism, designed to seamlessly integrate users' multimodal instructions into generative models, thus facilitating a cooperative and responsive interaction between user inputs and the generative process. This approach enables iterative and fine-grained refinement of the generation result through precise and effective user instructions. With InteractiveVideo, users are given the flexibility to meticulously tailor key aspects of a video. They can paint the reference image, edit semantics, and adjust video motions until their requirements are fully met. Code, models, and demo are available at https://github.com/invictus717/InteractiveVideo

Multimodal large language models (MLLMs) have enabled LLM-based agents to directly interact with application user interfaces (UIs), enhancing agents' performance in complex tasks. However, these agents often suffer from high latency and low reliability due to the extensive sequential UI interactions. To address this issue, we propose AXIS, a novel LLM-based agents framework prioritize actions through application programming interfaces (APIs) over UI actions. This framework also facilitates the creation and expansion of APIs through automated exploration of applications. Our experiments on Office Word demonstrate that AXIS reduces task completion time by 65%-70% and cognitive workload by 38%-53%, while maintaining accuracy of 97%-98% compare to humans. Our work contributes to a new human-agent-computer interaction (HACI) framework and a fresh UI design principle for application providers in the era of LLMs. It also explores the possibility of turning every applications into agents, paving the way towards an agent-centric operating system (Agent OS).

Performing simple household tasks based on language directives is very natural to humans, yet it remains an open challenge for AI agents. The 'interactive instruction following' task attempts to make progress towards building agents that jointly navigate, interact, and reason in the environment at every step. To address the multifaceted problem, we propose a model that factorizes the task into interactive perception and action policy streams with enhanced components and name it as MOCA, a Modular Object-Centric Approach. We empirically validate that MOCA outperforms prior arts by significant margins on the ALFRED benchmark with improved generalization.

This paper focuses on enhancing human-agent communication by integrating spatial context into virtual agents' non-verbal behaviors, specifically gestures. Recent advances in co-speech gesture generation have primarily utilized data-driven methods, which create natural motion but limit the scope of gestures to those performed in a void. Our work aims to extend these methods by enabling generative models to incorporate scene information into speech-driven gesture synthesis. We introduce a novel synthetic gesture dataset tailored for this purpose. This development represents a critical step toward creating embodied conversational agents that interact more naturally with their environment and users.

In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg problem. Prior methods ignore such inter-dependency and instead train marginal intent prediction models independent of robot actions. This is because training conditional models is hard given a lack of paired human-robot interaction datasets. Can we instead leverage large-scale human-human interaction data that is more easily accessible? Our key insight is to exploit a correspondence between human and robot actions that enables transfer learning from human-human to human-robot data. We propose a novel architecture, InteRACT, that pre-trains a conditional intent prediction model on large human-human datasets and fine-tunes on a small human-robot dataset. We evaluate on a set of real-world collaborative human-robot manipulation tasks and show that our conditional model improves over various marginal baselines. We also introduce new techniques to tele-operate a 7-DoF robot arm and collect a diverse range of human-robot collaborative manipulation data, which we open-source.

Active Real-time interaction with video LLMs introduces a new paradigm for human-computer interaction, where the model not only understands user intent but also responds while continuously processing streaming video on the fly. Unlike offline video LLMs, which analyze the entire video before answering questions, active real-time interaction requires three capabilities: 1) Perception: real-time video monitoring and interaction capturing. 2) Decision: raising proactive interaction in proper situations, 3) Reaction: continuous interaction with users. However, inherent conflicts exist among the desired capabilities. The Decision and Reaction require a contrary Perception scale and grain, and the autoregressive decoding blocks the real-time Perception and Decision during the Reaction. To unify the conflicted capabilities within a harmonious system, we present Dispider, a system that disentangles Perception, Decision, and Reaction. Dispider features a lightweight proactive streaming video processing module that tracks the video stream and identifies optimal moments for interaction. Once the interaction is triggered, an asynchronous interaction module provides detailed responses, while the processing module continues to monitor the video in the meantime. Our disentangled and asynchronous design ensures timely, contextually accurate, and computationally efficient responses, making Dispider ideal for active real-time interaction for long-duration video streams. Experiments show that Dispider not only maintains strong performance in conventional video QA tasks, but also significantly surpasses previous online models in streaming scenario responses, thereby validating the effectiveness of our architecture. The code and model are released at https://github.com/Mark12Ding/Dispider.

Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable assistants in human daily life. Unfortunately, most existing works only focus on multi-stage interactions, treating each task separately, and neglecting real-time feedback. In this work, we aim to empower humanoid robots with real-time reaction abilities to achieve various tasks, allowing human to interrupt robots at any time, and making robots respond to humans immediately. To support such abilities, we propose a general humanoid-human-object interaction framework, named RHINO, i.e., Real-time Humanoid-human Interaction and Object manipulation. RHINO provides a unified view of reactive motion, instruction-based manipulation, and safety concerns, over multiple human signal modalities, such as languages, images, and motions. RHINO is a hierarchical learning framework, enabling humanoids to learn reaction skills from human-human-object demonstrations and teleoperation data. In particular, it decouples the interaction process into two levels: 1) a high-level planner inferring human intentions from real-time human behaviors; and 2) a low-level controller achieving reactive motion behaviors and object manipulation skills based on the predicted intentions. We evaluate the proposed framework on a real humanoid robot and demonstrate its effectiveness, flexibility, and safety in various scenarios.

Web browsers are a portal to the internet, where much of human activity is undertaken. Thus, there has been significant research work in AI agents that interact with the internet through web browsing. However, there is also another interface designed specifically for machine interaction with online content: application programming interfaces (APIs). In this paper we ask -- what if we were to take tasks traditionally tackled by browsing agents, and give AI agents access to APIs? To do so, we propose two varieties of agents: (1) an API-calling agent that attempts to perform online tasks through APIs only, similar to traditional coding agents, and (2) a Hybrid Agent that can interact with online data through both web browsing and APIs. In experiments on WebArena, a widely-used and realistic benchmark for web navigation tasks, we find that API-based agents outperform web browsing agents. Hybrid Agents out-perform both others nearly uniformly across tasks, resulting in a more than 20.0% absolute improvement over web browsing alone, achieving a success rate of 35.8%, achiving the SOTA performance among task-agnostic agents. These results strongly suggest that when APIs are available, they present an attractive alternative to relying on web browsing alone.

Linear programming (LP) problems are pervasive in real-life applications. However, despite their apparent simplicity, an untrained user may find it difficult to determine the linear model of their specific problem. We envisage the creation of a goal-oriented conversational agent that will engage in conversation with the user to elicit all information required so that a subsequent agent can generate the linear model. In this paper, we present an approach for the generation of sample dialogues that can be used to develop and train such a conversational agent. Using prompt engineering, we develop two agents that "talk" to each other, one acting as the conversational agent, and the other acting as the user. Using a set of text descriptions of linear problems from NL4Opt available to the user only, the agent and the user engage in conversation until the agent has retrieved all key information from the original problem description. We also propose an extrinsic evaluation of the dialogues by assessing how well the summaries generated by the dialogues match the original problem descriptions. We conduct human and automatic evaluations, including an evaluation approach that uses GPT-4 to mimic the human evaluation metrics. The evaluation results show an overall good quality of the dialogues, though research is still needed to improve the quality of the GPT-4 evaluation metrics. The resulting dialogues, including the human annotations of a subset, are available to the research community. The conversational agent used for the generation of the dialogues can be used as a baseline.

Large language models (LLMs) have the potential to impact a wide range of creative domains, but the application of LLMs to animation is underexplored and presents novel challenges such as how users might effectively describe motion in natural language. In this paper, we present Keyframer, a design tool for animating static images (SVGs) with natural language. Informed by interviews with professional animation designers and engineers, Keyframer supports exploration and refinement of animations through the combination of prompting and direct editing of generated output. The system also enables users to request design variants, supporting comparison and ideation. Through a user study with 13 participants, we contribute a characterization of user prompting strategies, including a taxonomy of semantic prompt types for describing motion and a 'decomposed' prompting style where users continually adapt their goals in response to generated output.We share how direct editing along with prompting enables iteration beyond one-shot prompting interfaces common in generative tools today. Through this work, we propose how LLMs might empower a range of audiences to engage with animation creation.

Instruction-following agents must ground language into their observation and action spaces. Learning to ground language is challenging, typically requiring domain-specific engineering or large quantities of human interaction data. To address this challenge, we propose using pretrained vision-language models (VLMs) to supervise embodied agents. We combine ideas from model distillation and hindsight experience replay (HER), using a VLM to retroactively generate language describing the agent's behavior. Simple prompting allows us to control the supervision signal, teaching an agent to interact with novel objects based on their names (e.g., planes) or their features (e.g., colors) in a 3D rendered environment. Fewshot prompting lets us teach abstract category membership, including pre-existing categories (food vs toys) and ad-hoc ones (arbitrary preferences over objects). Our work outlines a new and effective way to use internet-scale VLMs, repurposing the generic language grounding acquired by such models to teach task-relevant groundings to embodied agents.

Autonomous agents that interact with graphical user interfaces (GUIs) hold significant potential for enhancing user experiences. To further improve these experiences, agents need to be personalized and proactive. By effectively comprehending user intentions through their actions and interactions with GUIs, agents will be better positioned to achieve these goals. This paper introduces the task of goal identification from observed UI trajectories, aiming to infer the user's intended task based on their GUI interactions. We propose a novel evaluation metric to assess whether two task descriptions are paraphrases within a specific UI environment. By Leveraging the inverse relation with the UI automation task, we utilized the Android-In-The-Wild and Mind2Web datasets for our experiments. Using our metric and these datasets, we conducted several experiments comparing the performance of humans and state-of-the-art models, specifically GPT-4 and Gemini-1.5 Pro. Our results show that Gemini performs better than GPT but still underperforms compared to humans, indicating significant room for improvement.

Despite much progress in large 3D datasets there are currently few interactive 3D object datasets, and their scale is limited due to the manual effort required in their construction. We introduce the static to openable (S2O) task which creates interactive articulated 3D objects from static counterparts through openable part detection, motion prediction, and interior geometry completion. We formulate a unified framework to tackle this task, and curate a challenging dataset of openable 3D objects that serves as a test bed for systematic evaluation. Our experiments benchmark methods from prior work and simple yet effective heuristics for the S2O task. We find that turning static 3D objects into interactively openable counterparts is possible but that all methods struggle to generalize to realistic settings of the task, and we highlight promising future work directions.

Advances in video generation have significantly improved the realism and quality of created scenes. This has fueled interest in developing intuitive tools that let users leverage video generation as world simulators. Text-to-video (T2V) generation is one such approach, enabling video creation from text descriptions only. Yet, due to the inherent ambiguity in texts and the limited temporal information offered by text prompts, researchers have explored additional control signals like trajectory-guided systems, for more accurate T2V generation. Nonetheless, methods to evaluate whether T2V models can generate realistic interactions between multiple objects are lacking. We introduce InTraGen, a pipeline for improved trajectory-based generation of object interaction scenarios. We propose 4 new datasets and a novel trajectory quality metric to evaluate the performance of the proposed InTraGen. To achieve object interaction, we introduce a multi-modal interaction encoding pipeline with an object ID injection mechanism that enriches object-environment interactions. Our results demonstrate improvements in both visual fidelity and quantitative performance. Code and datasets are available at https://github.com/insait-institute/InTraGen

Abstraction is a core tenet of human cognition and communication. When composing natural language instructions, humans naturally evoke abstraction to convey complex procedures in an efficient and concise way. Yet, interpreting and grounding abstraction expressed in NL has not yet been systematically studied in NLP, with no accepted benchmarks specifically eliciting abstraction in NL. In this work, we set the foundation for a systematic study of processing and grounding abstraction in NLP. First, we deliver a novel abstraction elicitation method and present Hexagons, a 2D instruction-following game. Using Hexagons we collected over 4k naturally-occurring visually-grounded instructions rich with diverse types of abstractions. From these data, we derive an instruction-to-execution task and assess different types of neural models. Our results show that contemporary models and modeling practices are substantially inferior to human performance, and that models' performance is inversely correlated with the level of abstraction, showing less satisfying performance on higher levels of abstraction. These findings are consistent across models and setups, confirming that abstraction is a challenging phenomenon deserving further attention and study in NLP/AI research.

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.

Believable proxies of human behavior can empower interactive applications ranging from immersive environments to rehearsal spaces for interpersonal communication to prototyping tools. In this paper, we introduce generative agents--computational software agents that simulate believable human behavior. Generative agents wake up, cook breakfast, and head to work; artists paint, while authors write; they form opinions, notice each other, and initiate conversations; they remember and reflect on days past as they plan the next day. To enable generative agents, we describe an architecture that extends a large language model to store a complete record of the agent's experiences using natural language, synthesize those memories over time into higher-level reflections, and retrieve them dynamically to plan behavior. We instantiate generative agents to populate an interactive sandbox environment inspired by The Sims, where end users can interact with a small town of twenty five agents using natural language. In an evaluation, these generative agents produce believable individual and emergent social behaviors: for example, starting with only a single user-specified notion that one agent wants to throw a Valentine's Day party, the agents autonomously spread invitations to the party over the next two days, make new acquaintances, ask each other out on dates to the party, and coordinate to show up for the party together at the right time. We demonstrate through ablation that the components of our agent architecture--observation, planning, and reflection--each contribute critically to the believability of agent behavior. By fusing large language models with computational, interactive agents, this work introduces architectural and interaction patterns for enabling believable simulations of human behavior.

Language model applications are becoming increasingly popular and complex, often including features like tool usage and retrieval augmentation. However, existing frameworks for such applications are often opinionated, deciding for developers how their prompts ought to be formatted and imposing limitations on customizability and reproducibility. To solve this we present Kani: a lightweight, flexible, and model-agnostic open-source framework for building language model applications. Kani helps developers implement a variety of complex features by supporting the core building blocks of chat interaction: model interfacing, chat management, and robust function calling. All Kani core functions are easily overridable and well documented to empower developers to customize functionality for their own needs. Kani thus serves as a useful tool for researchers, hobbyists, and industry professionals alike to accelerate their development while retaining interoperability and fine-grained control.

Hierarchical control for robotics has long been plagued by the need to have a well defined interface layer to communicate between high-level task planners and low-level policies. With the advent of LLMs, language has been emerging as a prospective interface layer. However, this has several limitations. Not all tasks can be decomposed into steps that are easily expressible in natural language (e.g. performing a dance routine). Further, it makes end-to-end finetuning on embodied data challenging due to domain shift and catastrophic forgetting. We introduce our method -- Learnable Latent Codes as Bridges (LCB) -- as an alternate architecture to overcome these limitations. \method~uses a learnable latent code to act as a bridge between LLMs and low-level policies. This enables LLMs to flexibly communicate goals in the task plan without being entirely constrained by language limitations. Additionally, it enables end-to-end finetuning without destroying the embedding space of word tokens learned during pre-training. Through experiments on Language Table and Calvin, two common language based benchmarks for embodied agents, we find that \method~outperforms baselines (including those w/ GPT-4V) that leverage pure language as the interface layer on tasks that require reasoning and multi-step behaviors.

We present a single-turn agent for graphical user interface (GUI) interaction tasks, using Vision-Language Model Florence-2-Base. The agent's primary task is identifying the screen coordinates of the UI element corresponding to the user's command. It demonstrates strong performance on Screenspot and OmniAct, while maintaining a compact size of 0.27B parameters and minimal latency. Relevant improvement comes from multi-task training and MLLM-based data augmentation. Manually annotated corpora are scarce, but we show that MLLM augmentation might produce better results. On Screenspot and OmniAct, our model outperforms both GUI-specific models (e.g., SeeClick) and MLLMs (e.g., GPT-4V).

We propose Framer for interactive frame interpolation, which targets producing smoothly transitioning frames between two images as per user creativity. Concretely, besides taking the start and end frames as inputs, our approach supports customizing the transition process by tailoring the trajectory of some selected keypoints. Such a design enjoys two clear benefits. First, incorporating human interaction mitigates the issue arising from numerous possibilities of transforming one image to another, and in turn enables finer control of local motions. Second, as the most basic form of interaction, keypoints help establish the correspondence across frames, enhancing the model to handle challenging cases (e.g., objects on the start and end frames are of different shapes and styles). It is noteworthy that our system also offers an "autopilot" mode, where we introduce a module to estimate the keypoints and refine the trajectory automatically, to simplify the usage in practice. Extensive experimental results demonstrate the appealing performance of Framer on various applications, such as image morphing, time-lapse video generation, cartoon interpolation, etc. The code, the model, and the interface will be released to facilitate further research.

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots to also demonstrate expressive behaviors in human-robot interaction. Prior work proposes rule-based methods that struggle to scale to new communication modalities or social situations, while data-driven methods require specialized datasets for each social situation the robot is used in. We propose to leverage the rich social context available from large language models (LLMs) and their ability to generate motion based on instructions or user preferences, to generate expressive robot motion that is adaptable and composable, building upon each other. Our approach utilizes few-shot chain-of-thought prompting to translate human language instructions into parametrized control code using the robot's available and learned skills. Through user studies and simulation experiments, we demonstrate that our approach produces behaviors that users found to be competent and easy to understand. Supplementary material can be found at https://generative-expressive-motion.github.io/.

Graphical User Interface (GUI) automation holds significant promise for assisting users with complex tasks, thereby boosting human productivity. Existing works leveraging Large Language Model (LLM) or LLM-based AI agents have shown capabilities in automating tasks on Android and Web platforms. However, these tasks are primarily aimed at simple device usage and entertainment operations. This paper presents a novel benchmark, AssistGUI, to evaluate whether models are capable of manipulating the mouse and keyboard on the Windows platform in response to user-requested tasks. We carefully collected a set of 100 tasks from nine widely-used software applications, such as, After Effects and MS Word, each accompanied by the necessary project files for better evaluation. Moreover, we propose an advanced Actor-Critic Embodied Agent framework, which incorporates a sophisticated GUI parser driven by an LLM-agent and an enhanced reasoning mechanism adept at handling lengthy procedural tasks. Our experimental results reveal that our GUI Parser and Reasoning mechanism outshine existing methods in performance. Nevertheless, the potential remains substantial, with the best model attaining only a 46% success rate on our benchmark. We conclude with a thorough analysis of the current methods' limitations, setting the stage for future breakthroughs in this domain.

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even generate action sequences directly, given an instruction in natural language with no additional domain information. However, such methods either require enumerating all possible next steps for scoring, or generate free-form text that may contain actions not possible on a given robot in its current context. We present a programmatic LLM prompt structure that enables plan generation functional across situated environments, robot capabilities, and tasks. Our key insight is to prompt the LLM with program-like specifications of the available actions and objects in an environment, as well as with example programs that can be executed. We make concrete recommendations about prompt structure and generation constraints through ablation experiments, demonstrate state of the art success rates in VirtualHome household tasks, and deploy our method on a physical robot arm for tabletop tasks. Website at progprompt.github.io

GUIs have long been central to human-computer interaction, providing an intuitive and visually-driven way to access and interact with digital systems. The advent of LLMs, particularly multimodal models, has ushered in a new era of GUI automation. They have demonstrated exceptional capabilities in natural language understanding, code generation, and visual processing. This has paved the way for a new generation of LLM-brained GUI agents capable of interpreting complex GUI elements and autonomously executing actions based on natural language instructions. These agents represent a paradigm shift, enabling users to perform intricate, multi-step tasks through simple conversational commands. Their applications span across web navigation, mobile app interactions, and desktop automation, offering a transformative user experience that revolutionizes how individuals interact with software. This emerging field is rapidly advancing, with significant progress in both research and industry. To provide a structured understanding of this trend, this paper presents a comprehensive survey of LLM-brained GUI agents, exploring their historical evolution, core components, and advanced techniques. We address research questions such as existing GUI agent frameworks, the collection and utilization of data for training specialized GUI agents, the development of large action models tailored for GUI tasks, and the evaluation metrics and benchmarks necessary to assess their effectiveness. Additionally, we examine emerging applications powered by these agents. Through a detailed analysis, this survey identifies key research gaps and outlines a roadmap for future advancements in the field. By consolidating foundational knowledge and state-of-the-art developments, this work aims to guide both researchers and practitioners in overcoming challenges and unlocking the full potential of LLM-brained GUI agents.

Humans write code in a fundamentally interactive manner and rely on constant execution feedback to correct errors, resolve ambiguities, and decompose tasks. While LLMs have recently exhibited promising coding capabilities, current coding benchmarks mostly consider a static instruction-to-code sequence transduction process, which has the potential for error propagation and a disconnect between the generated code and its final execution environment. To address this gap, we introduce InterCode, a lightweight, flexible, and easy-to-use framework of interactive coding as a standard reinforcement learning (RL) environment, with code as actions and execution feedback as observations. Our framework is language and platform agnostic, uses self-contained Docker environments to provide safe and reproducible execution, and is compatible out-of-the-box with traditional seq2seq coding methods, while enabling the development of new methods for interactive code generation. We use InterCode to create two interactive code environments with Bash and SQL as action spaces, leveraging data from the static Spider and NL2Bash datasets. We demonstrate InterCode's viability as a testbed by evaluating multiple state-of-the-art LLMs configured with different prompting strategies such as ReAct and Plan & Solve. Our results showcase the benefits of interactive code generation and demonstrate that InterCode can serve as a challenging benchmark for advancing code understanding and generation capabilities. InterCode is designed to be easily extensible and can even be used to incorporate new tasks such as Capture the Flag, a popular coding puzzle that is inherently multi-step and involves multiple programming languages. Project site with code and data: https://intercode-benchmark.github.io

Conversational agents show the promise to allow users to interact with mobile devices using language. However, to perform diverse UI tasks with natural language, developers typically need to create separate datasets and models for each specific task, which is expensive and effort-consuming. Recently, pre-trained large language models (LLMs) have been shown capable of generalizing to various downstream tasks when prompted with a handful of examples from the target task. This paper investigates the feasibility of enabling versatile conversational interactions with mobile UIs using a single LLM. We designed prompting techniques to adapt an LLM to mobile UIs. We experimented with four important modeling tasks that address various scenarios in conversational interaction. Our method achieved competitive performance on these challenging tasks without requiring dedicated datasets and training, offering a lightweight and generalizable approach to enable language-based mobile interaction.

Current language model-driven agents often lack mechanisms for effective user participation, which is crucial given the vagueness commonly found in user instructions. Although adept at devising strategies and performing tasks, these agents struggle with seeking clarification and grasping precise user intentions. To bridge this gap, we introduce Intention-in-Interaction (IN3), a novel benchmark designed to inspect users' implicit intentions through explicit queries. Next, we propose the incorporation of model experts as the upstream in agent designs to enhance user-agent interaction. Employing IN3, we empirically train Mistral-Interact, a powerful model that proactively assesses task vagueness, inquires user intentions, and refines them into actionable goals before starting downstream agent task execution. Integrating it into the XAgent framework, we comprehensively evaluate the enhanced agent system regarding user instruction understanding and execution, revealing that our approach notably excels at identifying vague user tasks, recovering and summarizing critical missing information, setting precise and necessary agent execution goals, and minimizing redundant tool usage, thus boosting overall efficiency. All the data and codes are released.

In the evolving landscape of software development, Large Language Models (LLMs) exhibit a unique phenomenon known as emergent abilities, demonstrating adeptness across numerous tasks, from text summarization to code generation. While these abilities open up novel avenues in software design and crafting, their incorporation presents substantial challenges. Developers grapple with decisions surrounding the direct embedding of LLMs within applications versus employing them for code generation. Moreover, effective prompt design becomes a critical concern, given the necessity of data extraction from natural language outputs. To address these intricacies, this paper introduces AskIt, a domain-specific language (DSL) specifically designed for LLMs. AskIt simplifies LLM integration, offering type-guided output control, template-based function definitions, and a unified interface that diminishes the distinction between LLM-based code generation and application integration. Furthermore, through Programming by Example (PBE), AskIt harnesses the power of few-shot learning at the programming language level. Our evaluations underscore AskIt's potency. Across 50 tasks, AskIt generated concise prompts for the given tasks, achieving a 16.14% reduction in prompt length relative to benchmarks. Additionally, by enabling the transition from direct LLM application usage to function generation, AskIt achieved significant speedups, as observed in our GSM8K benchmark experiments. Through these advancements, AskIt streamlines the integration of LLMs in software development, offering a more efficient, versatile approach for leveraging emergent abilities. The implementations of AskIt in TypeScript and Python are available at https://github.com/katsumiok/ts-askit and https://github.com/katsumiok/pyaskit, respectively.

Embodied conversational agents (ECAs) benefit from non-verbal behavior for natural and efficient interaction with users. Gesticulation - hand and arm movements accompanying speech - is an essential part of non-verbal behavior. Gesture generation models have been developed for several decades: starting with rule-based and ending with mainly data-driven methods. To date, recent end-to-end gesture generation methods have not been evaluated in a real-time interaction with users. We present a proof-of-concept framework, which is intended to facilitate evaluation of modern gesture generation models in interaction. We demonstrate an extensible open-source framework that contains three components: 1) a 3D interactive agent; 2) a chatbot backend; 3) a gesticulating system. Each component can be replaced, making the proposed framework applicable for investigating the effect of different gesturing models in real-time interactions with different communication modalities, chatbot backends, or different agent appearances. The code and video are available at the project page https://nagyrajmund.github.io/project/gesturebot.

Graphical User Interface (GUI) automation holds significant promise for enhancing human productivity by assisting with computer tasks. Existing task formulations primarily focus on simple tasks that can be specified by a single, language-only instruction, such as "Insert a new slide." In this work, we introduce VideoGUI, a novel multi-modal benchmark designed to evaluate GUI assistants on visual-centric GUI tasks. Sourced from high-quality web instructional videos, our benchmark focuses on tasks involving professional and novel software (e.g., Adobe Photoshop or Stable Diffusion WebUI) and complex activities (e.g., video editing). VideoGUI evaluates GUI assistants through a hierarchical process, allowing for identification of the specific levels at which they may fail: (i) high-level planning: reconstruct procedural subtasks from visual conditions without language descriptions; (ii) middle-level planning: generate sequences of precise action narrations based on visual state (i.e., screenshot) and goals; (iii) atomic action execution: perform specific actions such as accurately clicking designated elements. For each level, we design evaluation metrics across individual dimensions to provide clear signals, such as individual performance in clicking, dragging, typing, and scrolling for atomic action execution. Our evaluation on VideoGUI reveals that even the SoTA large multimodal model GPT4o performs poorly on visual-centric GUI tasks, especially for high-level planning.

While LLMs can effectively help prototype single ML functionalities, many real-world applications involve complex tasks that cannot be easily handled via a single run of an LLM. Recent work has found that chaining multiple LLM runs together (with the output of one step being the input to the next) can help users accomplish these more complex tasks, and in a way that is perceived to be more transparent and controllable. However, it remains unknown what users need when authoring their own LLM chains -- a key step for lowering the barriers for non-AI-experts to prototype AI-infused applications. In this work, we explore the LLM chain authoring process. We conclude from pilot studies find that chaining requires careful scaffolding for transforming intermediate node outputs, as well as debugging the chain at multiple granularities; to help with these needs, we designed PromptChainer, an interactive interface for visually programming chains. Through case studies with four people, we show that PromptChainer supports building prototypes for a range of applications, and conclude with open questions on scaling chains to complex tasks, and supporting low-fi chain prototyping.

We present AutoGLM, a new series in the ChatGLM family, designed to serve as foundation agents for autonomous control of digital devices through Graphical User Interfaces (GUIs). While foundation models excel at acquiring human knowledge, they often struggle with decision-making in dynamic real-world environments, limiting their progress toward artificial general intelligence. This limitation underscores the importance of developing foundation agents capable of learning through autonomous environmental interactions by reinforcing existing models. Focusing on Web Browser and Phone as representative GUI scenarios, we have developed AutoGLM as a practical foundation agent system for real-world GUI interactions. Our approach integrates a comprehensive suite of techniques and infrastructures to create deployable agent systems suitable for user delivery. Through this development, we have derived two key insights: First, the design of an appropriate "intermediate interface" for GUI control is crucial, enabling the separation of planning and grounding behaviors, which require distinct optimization for flexibility and accuracy respectively. Second, we have developed a novel progressive training framework that enables self-evolving online curriculum reinforcement learning for AutoGLM. Our evaluations demonstrate AutoGLM's effectiveness across multiple domains. For web browsing, AutoGLM achieves a 55.2% success rate on VAB-WebArena-Lite (improving to 59.1% with a second attempt) and 96.2% on OpenTable evaluation tasks. In Android device control, AutoGLM attains a 36.2% success rate on AndroidLab (VAB-Mobile) and 89.7% on common tasks in popular Chinese APPs.

LLaVA-Interactive is a research prototype for multimodal human-AI interaction. The system can have multi-turn dialogues with human users by taking multimodal user inputs and generating multimodal responses. Importantly, LLaVA-Interactive goes beyond language prompt, where visual prompt is enabled to align human intents in the interaction. The development of LLaVA-Interactive is extremely cost-efficient as the system combines three multimodal skills of pre-built AI models without additional model training: visual chat of LLaVA, image segmentation from SEEM, as well as image generation and editing from GLIGEN. A diverse set of application scenarios is presented to demonstrate the promises of LLaVA-Interactive and to inspire future research in multimodal interactive systems.

We present OmniJARVIS, a novel Vision-Language-Action (VLA) model for open-world instruction-following agents in open-world Minecraft. Compared to prior works that either emit textual goals to separate controllers or produce the control command directly, OmniJARVIS seeks a different path to ensure both strong reasoning and efficient decision-making capabilities via unified tokenization of multimodal interaction data. First, we introduce a self-supervised approach to learn a behavior encoder that produces discretized tokens for behavior trajectories tau = {o_0, a_0, dots} and an imitation learning (IL) policy decoder conditioned on these tokens. These additional behavior tokens will be augmented to the vocabulary of pretrained Multimodal Language Models (MLMs). With this encoder, we then pack long-term multimodal interactions involving task instructions, memories, thoughts, observations, textual responses, behavior trajectories, etc. into unified token sequences and model them with autoregressive transformers. Thanks to the semantically meaningful behavior tokens, the resulting VLA model, OmniJARVIS, can reason (by producing chain-of-thoughts), plan, answer questions, and act (by producing behavior tokens for the IL policy decoder). OmniJARVIS demonstrates excellent performances on a comprehensive collection of atomic, programmatic, and open-ended tasks in open-world Minecraft. Our analysis further unveils the crucial design principles in interaction data formation, unified tokenization, and its scaling potentials.

Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting their broader applications. To overcome this challenge, we present Articulate-Anything, a system that automates the articulation of diverse, complex objects from many input modalities, including text, images, and videos. Articulate-Anything leverages vision-language models (VLMs) to generate code that can be compiled into an interactable digital twin for use in standard 3D simulators. Our system exploits existing 3D asset datasets via a mesh retrieval mechanism, along with an actor-critic system that iteratively proposes, evaluates, and refines solutions for articulating the objects, self-correcting errors to achieve a robust outcome. Qualitative evaluations demonstrate Articulate-Anything's capability to articulate complex and even ambiguous object affordances by leveraging rich grounded inputs. In extensive quantitative experiments on the standard PartNet-Mobility dataset, Articulate-Anything substantially outperforms prior work, increasing the success rate from 8.7-11.6% to 75% and setting a new bar for state-of-the-art performance. We further showcase the utility of our system by generating 3D assets from in-the-wild video inputs, which are then used to train robotic policies for fine-grained manipulation tasks in simulation that go beyond basic pick and place. These policies are then transferred to a real robotic system.

The intuitive nature of drag-based interaction has led to its growing adoption for controlling object trajectories in image-to-video synthesis. Still, existing methods that perform dragging in the 2D space usually face ambiguity when handling out-of-plane movements. In this work, we augment the interaction with a new dimension, i.e., the depth dimension, such that users are allowed to assign a relative depth for each point on the trajectory. That way, our new interaction paradigm not only inherits the convenience from 2D dragging, but facilitates trajectory control in the 3D space, broadening the scope of creativity. We propose a pioneering method for 3D trajectory control in image-to-video synthesis by abstracting object masks into a few cluster points. These points, accompanied by the depth information and the instance information, are finally fed into a video diffusion model as the control signal. Extensive experiments validate the effectiveness of our approach, dubbed LeviTor, in precisely manipulating the object movements when producing photo-realistic videos from static images. Project page: https://ppetrichor.github.io/levitor.github.io/

Learning how humans manipulate objects requires machines to acquire knowledge from two perspectives: one for understanding object affordances and the other for learning human's interactions based on the affordances. Even though these two knowledge bases are crucial, we find that current databases lack a comprehensive awareness of them. In this work, we propose a multi-modal and rich-annotated knowledge repository, OakInk, for visual and cognitive understanding of hand-object interactions. We start to collect 1,800 common household objects and annotate their affordances to construct the first knowledge base: Oak. Given the affordance, we record rich human interactions with 100 selected objects in Oak. Finally, we transfer the interactions on the 100 recorded objects to their virtual counterparts through a novel method: Tink. The recorded and transferred hand-object interactions constitute the second knowledge base: Ink. As a result, OakInk contains 50,000 distinct affordance-aware and intent-oriented hand-object interactions. We benchmark OakInk on pose estimation and grasp generation tasks. Moreover, we propose two practical applications of OakInk: intent-based interaction generation and handover generation. Our datasets and source code are publicly available at https://github.com/lixiny/OakInk.

Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal compositions. To this end, we train a video generation model conditioned on spatio-temporally sparse or dense motion trajectories. In contrast to prior motion conditioning work, this flexible representation can encode any number of trajectories, object-specific or global scene motion, and temporally sparse motion; due to its flexibility we refer to this conditioning as motion prompts. While users may directly specify sparse trajectories, we also show how to translate high-level user requests into detailed, semi-dense motion prompts, a process we term motion prompt expansion. We demonstrate the versatility of our approach through various applications, including camera and object motion control, "interacting" with an image, motion transfer, and image editing. Our results showcase emergent behaviors, such as realistic physics, suggesting the potential of motion prompts for probing video models and interacting with future generative world models. Finally, we evaluate quantitatively, conduct a human study, and demonstrate strong performance. Video results are available on our webpage: https://motion-prompting.github.io/

We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling non-experts to articulate task requirements to the system through a chat interface. Key features of the framework include: integration of ROS with an AI agent connected to a plethora of open-source and commercial LLMs, automatic extraction of a behavior from the LLM output and execution of ROS actions/services, support for three behavior modes (sequence, behavior tree, state machine), imitation learning for adding new robot actions to the library of possible actions, and LLM reflection via human and environment feedback. Extensive experiments validate the framework, showcasing robustness, scalability, and versatility in diverse scenarios, including long-horizon tasks, tabletop rearrangements, and remote supervisory control. To facilitate the adoption of our framework and support the reproduction of our results, we have made our code open-source. You can access it at: https://github.com/huawei-noah/HEBO/tree/master/ROSLLM.

The rise of capabilities expressed by large language models has been quickly followed by the integration of the same complex systems into application level logic. Algorithms, programs, systems, and companies are built around structured prompting to black box models where the majority of the design and implementation lies in capturing and quantifying the `agent mode'. The standard way to shape a closed language model is to prime it for a specific task with a tailored prompt, often initially handwritten by a human. The textual prompts co-evolve with the codebase, taking shape over the course of project life as artifacts which must be reviewed and maintained, just as the traditional code files might be. Unlike traditional code, we find that prompts do not receive effective static testing and linting to prevent runtime issues. In this work, we present a novel dataset called PromptSet, with more than 61,000 unique developer prompts used in open source Python programs. We perform analysis on this dataset and introduce the notion of a static linter for prompts. Released with this publication is a HuggingFace dataset and a Github repository to recreate collection and processing efforts, both under the name pisterlabs/promptset.

Modern large language models (LLMs), such as ChatGPT, exhibit a remarkable capacity for role-playing, enabling them to embody not only human characters but also non-human entities like a Linux terminal. This versatility allows them to simulate complex human-like interactions and behaviors within various contexts, as well as to emulate specific objects or systems. While these capabilities have enhanced user engagement and introduced novel modes of interaction, the influence of role-playing on LLMs' reasoning abilities remains underexplored. In this study, we introduce a strategically designed role-play prompting methodology and assess its performance under the zero-shot setting across twelve diverse reasoning benchmarks, encompassing arithmetic, commonsense reasoning, symbolic reasoning, and more. Leveraging models such as ChatGPT and Llama 2, our empirical results illustrate that role-play prompting consistently surpasses the standard zero-shot approach across most datasets. Notably, accuracy on AQuA rises from 53.5% to 63.8%, and on Last Letter from 23.8% to 84.2%. Beyond enhancing contextual understanding, we posit that role-play prompting serves as an implicit Chain-of-Thought (CoT) trigger, thereby improving the quality of reasoning. By comparing our approach with the Zero-Shot-CoT technique, which prompts the model to "think step by step", we further demonstrate that role-play prompting can generate a more effective CoT. This highlights its potential to augment the reasoning capabilities of LLMs.

Generalizable manipulation skills, which can be composed to tackle long-horizon and complex daily chores, are one of the cornerstones of Embodied AI. However, existing benchmarks, mostly composed of a suite of simulatable environments, are insufficient to push cutting-edge research works because they lack object-level topological and geometric variations, are not based on fully dynamic simulation, or are short of native support for multiple types of manipulation tasks. To this end, we present ManiSkill2, the next generation of the SAPIEN ManiSkill benchmark, to address critical pain points often encountered by researchers when using benchmarks for generalizable manipulation skills. ManiSkill2 includes 20 manipulation task families with 2000+ object models and 4M+ demonstration frames, which cover stationary/mobile-base, single/dual-arm, and rigid/soft-body manipulation tasks with 2D/3D-input data simulated by fully dynamic engines. It defines a unified interface and evaluation protocol to support a wide range of algorithms (e.g., classic sense-plan-act, RL, IL), visual observations (point cloud, RGBD), and controllers (e.g., action type and parameterization). Moreover, it empowers fast visual input learning algorithms so that a CNN-based policy can collect samples at about 2000 FPS with 1 GPU and 16 processes on a regular workstation. It implements a render server infrastructure to allow sharing rendering resources across all environments, thereby significantly reducing memory usage. We open-source all codes of our benchmark (simulator, environments, and baselines) and host an online challenge open to interdisciplinary researchers.

By conditioning on natural language instructions, large language models (LLMs) have displayed impressive capabilities as general-purpose computers. However, task performance depends significantly on the quality of the prompt used to steer the model, and most effective prompts have been handcrafted by humans. Inspired by classical program synthesis and the human approach to prompt engineering, we propose Automatic Prompt Engineer (APE) for automatic instruction generation and selection. In our method, we treat the instruction as the "program," optimized by searching over a pool of instruction candidates proposed by an LLM in order to maximize a chosen score function. To evaluate the quality of the selected instruction, we evaluate the zero-shot performance of another LLM following the selected instruction. Experiments on 24 NLP tasks show that our automatically generated instructions outperform the prior LLM baseline by a large margin and achieve better or comparable performance to the instructions generated by human annotators on 19/24 tasks. We conduct extensive qualitative and quantitative analyses to explore the performance of APE. We show that APE-engineered prompts can be applied to steer models toward truthfulness and/or informativeness, as well as to improve few-shot learning performance by simply prepending them to standard in-context learning prompts. Please check out our webpage at https://sites.google.com/view/automatic-prompt-engineer.

Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control tasks. They are often specialized, and the tasks they address are rarely extendable or customizable. We categorize these as solutions to the close-set motion control problem. In response to the complexity of practical motion control, we propose and attempt to solve the open-set motion control problem. This problem is characterized by an open and fully customizable set of motion control tasks. To address this, we introduce a new paradigm, programmable motion generation. In this paradigm, any given motion control task is broken down into a combination of atomic constraints. These constraints are then programmed into an error function that quantifies the degree to which a motion sequence adheres to them. We utilize a pre-trained motion generation model and optimize its latent code to minimize the error function of the generated motion. Consequently, the generated motion not only inherits the prior of the generative model but also satisfies the required constraints. Experiments show that we can generate high-quality motions when addressing a wide range of unseen tasks. These tasks encompass motion control by motion dynamics, geometric constraints, physical laws, interactions with scenes, objects or the character own body parts, etc. All of these are achieved in a unified approach, without the need for ad-hoc paired training data collection or specialized network designs. During the programming of novel tasks, we observed the emergence of new skills beyond those of the prior model. With the assistance of large language models, we also achieved automatic programming. We hope that this work will pave the way for the motion control of general AI agents.

Pursuing human-like interaction for Graphical User Interface (GUI) agents requires understanding the GUI context and following user instructions. However, existing works typically couple these two aspects and focus more on instruct-following abilities, while ignoring the importance of understanding the GUI context. In this paper, we introduce an instruction-free GUI navigation dataset, termed Insight-UI Dataset, to enhance model comprehension of GUI environments. Insight-UI Dataset is automatically generated from the Common Crawl corpus, simulating various platforms -- including iOS, Android, Windows, and Linux -- across multiple resolutions on 312K domains. Although GUI interactions vary by context, diverse interfaces share common internal patterns, such as clicking an item to view its details. It implies the feasibility of independent GUI operation learning, followed by joint optimization with instruction tuning. Thereby, we develop the GUI agent model Falcon-UI, which is initially pretrained on Insight-UI Dataset and subsequently fine-tuned on Android and Web GUI datasets, including AITW, AITZ, Android Control, and Mind2Web. With 7 billion parameters, Falcon-UI achieves accuracy comparable to the 72 billion-parameter Qwen2VL on AITZ, validating the alignment between GUI context comprehension and agent performance. Our code and dataset will be open-sourced.

Current GUI agents have achieved outstanding performance in GUI element grounding. However, planning remains highly challenging, especially due to sensitivity to the initial state of the environment. Specifically, slight differences in the initial state-such as the target software not being open or the interface not being in its default state-often lead to planning errors. This issue is widespread in real user scenarios, but existing benchmarks fail to evaluate it. In this paper, we present WorldGUI, a novel GUI benchmark that designs GUI tasks with various initial states to simulate real computer-user interactions. The benchmark spans a wide range of tasks across 10 popular software applications, including PowerPoint, VSCode, and Adobe Acrobat. In addition, to address the challenges of dynamic GUI automation tasks, we propose GUI-Thinker, a holistic framework, leveraging a critique mechanism, that effectively manages the unpredictability and complexity of GUI interactions. Experimental results demonstrate that GUI-Thinker significantly outperforms Claude-3.5 (Computer Use) by 14.9% in success rate on WorldGUI tasks. This improvement underscores the effectiveness of our critical-thinking-based framework in enhancing GUI automation.

Utilizing Graphic User Interface (GUI) for human-computer interaction is essential for accessing a wide range of digital tools. Recent advancements in Vision Language Models (VLMs) highlight the compelling potential to develop versatile agents to help humans finish GUI navigation tasks. However, current VLMs are challenged in terms of fundamental abilities (OCR and grounding) and GUI knowledge (the functions and control methods of GUI elements), preventing them from becoming practical GUI agents. To solve these challenges, we contribute GUICourse, a suite of datasets to train visual-based GUI agents from general VLMs. First, we introduce the GUIEnv dataset to strengthen the OCR and grounding capabilities of VLMs. Then, we introduce the GUIAct and GUIChat datasets to enrich their knowledge of GUI components and interactions. Experiments demonstrate that our GUI agents have better performance on common GUI tasks than their baseline VLMs. Even the small-size GUI agent (with 3.1B parameters) can still work well on single-step and multi-step GUI tasks. Finally, we analyze the different varieties in the training stage of this agent by ablation study. Our source codes and datasets are released at https://github.com/yiye3/GUICourse.

Deep learning models for natural language processing (NLP) are increasingly adopted and deployed by analysts without formal training in NLP or machine learning (ML). However, the documentation intended to convey the model's details and appropriate use is tailored primarily to individuals with ML or NLP expertise. To address this gap, we conduct a design inquiry into interactive model cards, which augment traditionally static model cards with affordances for exploring model documentation and interacting with the models themselves. Our investigation consists of an initial conceptual study with experts in ML, NLP, and AI Ethics, followed by a separate evaluative study with non-expert analysts who use ML models in their work. Using a semi-structured interview format coupled with a think-aloud protocol, we collected feedback from a total of 30 participants who engaged with different versions of standard and interactive model cards. Through a thematic analysis of the collected data, we identified several conceptual dimensions that summarize the strengths and limitations of standard and interactive model cards, including: stakeholders; design; guidance; understandability & interpretability; sensemaking & skepticism; and trust & safety. Our findings demonstrate the importance of carefully considered design and interactivity for orienting and supporting non-expert analysts using deep learning models, along with a need for consideration of broader sociotechnical contexts and organizational dynamics. We have also identified design elements, such as language, visual cues, and warnings, among others, that support interactivity and make non-interactive content accessible. We summarize our findings as design guidelines and discuss their implications for a human-centered approach towards AI/ML documentation.

Building Graphical User Interface (GUI) assistants holds significant promise for enhancing human workflow productivity. While most agents are language-based, relying on closed-source API with text-rich meta-information (e.g., HTML or accessibility tree), they show limitations in perceiving UI visuals as humans do, highlighting the need for GUI visual agents. In this work, we develop a vision-language-action model in digital world, namely ShowUI, which features the following innovations: (i) UI-Guided Visual Token Selection to reduce computational costs by formulating screenshots as an UI connected graph, adaptively identifying their redundant relationship and serve as the criteria for token selection during self-attention blocks; (ii) Interleaved Vision-Language-Action Streaming that flexibly unifies diverse needs within GUI tasks, enabling effective management of visual-action history in navigation or pairing multi-turn query-action sequences per screenshot to enhance training efficiency; (iii) Small-scale High-quality GUI Instruction-following Datasets by careful data curation and employing a resampling strategy to address significant data type imbalances. With above components, ShowUI, a lightweight 2B model using 256K data, achieves a strong 75.1% accuracy in zero-shot screenshot grounding. Its UI-guided token selection further reduces 33% of redundant visual tokens during training and speeds up the performance by 1.4x. Navigation experiments across web Mind2Web, mobile AITW, and online MiniWob environments further underscore the effectiveness and potential of our model in advancing GUI visual agents. The models are available at https://github.com/showlab/ShowUI.

The traditional process of building interactive machine learning systems can be viewed as a teacher-learner interaction scenario where the machine-learners are trained by one or more human-teachers. In this work, we explore the idea of using a conversational interface to investigate the interaction between human-teachers and interactive machine-learners. Specifically, we examine whether teachable AI agents can reliably learn from human-teachers through conversational interactions, and how this learning compare with traditional supervised learning algorithms. Results validate the concept of teachable conversational agents and highlight the factors relevant for the development of machine learning systems that intend to learn from conversational interactions.

The rapid advancement of conversational and chat-based language models has led to remarkable progress in complex task-solving. However, their success heavily relies on human input to guide the conversation, which can be challenging and time-consuming. This paper explores the potential of building scalable techniques to facilitate autonomous cooperation among communicative agents and provide insight into their "cognitive" processes. To address the challenges of achieving autonomous cooperation, we propose a novel communicative agent framework named role-playing. Our approach involves using inception prompting to guide chat agents toward task completion while maintaining consistency with human intentions. We showcase how role-playing can be used to generate conversational data for studying the behaviors and capabilities of chat agents, providing a valuable resource for investigating conversational language models. Our contributions include introducing a novel communicative agent framework, offering a scalable approach for studying the cooperative behaviors and capabilities of multi-agent systems, and open-sourcing our library to support research on communicative agents and beyond. The GitHub repository of this project is made publicly available on: https://github.com/lightaime/camel.

Recent advancements in integrating large language models (LLMs) with application programming interfaces (APIs) have gained significant interest in both academia and industry. These API-based agents, leveraging the strong autonomy and planning capabilities of LLMs, can efficiently solve problems requiring multi-step actions. However, their ability to handle multi-dimensional difficulty levels, diverse task types, and real-world demands through APIs remains unknown. In this paper, we introduce ShortcutsBench, a large-scale benchmark for the comprehensive evaluation of API-based agents in solving tasks with varying levels of difficulty, diverse task types, and real-world demands. ShortcutsBench includes a wealth of real APIs from Apple Inc.'s operating systems, refined user queries from shortcuts, human-annotated high-quality action sequences from shortcut developers, and accurate parameter filling values about primitive parameter types, enum parameter types, outputs from previous actions, and parameters that need to request necessary information from the system or user. Our extensive evaluation of agents built with 5 leading open-source (size >= 57B) and 4 closed-source LLMs (e.g. Gemini-1.5-Pro and GPT-3.5) reveals significant limitations in handling complex queries related to API selection, parameter filling, and requesting necessary information from systems and users. These findings highlight the challenges that API-based agents face in effectively fulfilling real and complex user queries. All datasets, code, and experimental results will be available at https://github.com/eachsheep/shortcutsbench.

This paper presents prompt design techniques for software engineering, in the form of patterns, to solve common problems when using large language models (LLMs), such as ChatGPT to automate common software engineering activities, such as ensuring code is decoupled from third-party libraries and simulating a web application API before it is implemented. This paper provides two contributions to research on using LLMs for software engineering. First, it provides a catalog of patterns for software engineering that classifies patterns according to the types of problems they solve. Second, it explores several prompt patterns that have been applied to improve requirements elicitation, rapid prototyping, code quality, refactoring, and system design.

Recent surge in Large Language Model (LLM) availability has opened exciting avenues for research. However, efficiently interacting with these models presents a significant hurdle since LLMs often reside on proprietary or self-hosted API endpoints, each requiring custom code for interaction. Conducting comparative studies between different models can therefore be time-consuming and necessitate significant engineering effort, hindering research efficiency and reproducibility. To address these challenges, we present prompto, an open source Python library which facilitates asynchronous querying of LLM endpoints enabling researchers to interact with multiple LLMs concurrently, while maximising efficiency and utilising individual rate limits. Our library empowers researchers and developers to interact with LLMs more effectively and enabling faster experimentation and evaluation. prompto is released with an introductory video (https://youtu.be/-eZAmlV4ypk) under MIT License and is available via GitHub (https://github.com/alan-turing-institute/prompto).

The process of quantifying and analyzing animal behavior involves translating the naturally occurring descriptive language of their actions into machine-readable code. Yet, codifying behavior analysis is often challenging without deep understanding of animal behavior and technical machine learning knowledge. To limit this gap, we introduce AmadeusGPT: a natural language interface that turns natural language descriptions of behaviors into machine-executable code. Large-language models (LLMs) such as GPT3.5 and GPT4 allow for interactive language-based queries that are potentially well suited for making interactive behavior analysis. However, the comprehension capability of these LLMs is limited by the context window size, which prevents it from remembering distant conversations. To overcome the context window limitation, we implement a novel dual-memory mechanism to allow communication between short-term and long-term memory using symbols as context pointers for retrieval and saving. Concretely, users directly use language-based definitions of behavior and our augmented GPT develops code based on the core AmadeusGPT API, which contains machine learning, computer vision, spatio-temporal reasoning, and visualization modules. Users then can interactively refine results, and seamlessly add new behavioral modules as needed. We benchmark AmadeusGPT and show we can produce state-of-the-art performance on the MABE 2022 behavior challenge tasks. Note, an end-user would not need to write any code to achieve this. Thus, collectively AmadeusGPT presents a novel way to merge deep biological knowledge, large-language models, and core computer vision modules into a more naturally intelligent system. Code and demos can be found at: https://github.com/AdaptiveMotorControlLab/AmadeusGPT.

Although current Large Language Models (LLMs) exhibit impressive capabilities, performing complex real-world tasks still requires tool learning. Mainstream methods, such as CoT/ReAct, rely on step-by-step tool invocation to interact with external environments, but they are limited in perceptual scope and lack adequate task-planning capability. To address these limitations, other studies introduce the first Search-based Decision Tree (DFSDT), which still suffers from the high computational cost. In this paper, we introduce a novel parallel tool invocation paradigm, DTA-Llama (Divide-Then-Aggregate Llama). First, we transform traditional tree-based tool search paths into Directed Acyclic Graph (DAG) structure, generating a high-quality parallel tool invocation dataset. The DTA-Llama is then trained on the dataset to learn to iteratively divide the current task into several parallel tool invocation sub-tasks and aggregate the invocation results to decide the next actions. Furthermore, we introduce an efficient inference framework inspired by the Process/Threads mechanism when applying the DTA-Llama to practical tasks. Experimental results show that our approach substantially enhances task performance while reducing token consumption and inference time. Llama2-7B, using our method, is comparable to the official parallel function calling method of GPT-3.5. The relevant code, dataset, and model weights are available at https://corn0205.github.io/

Code generation techniques generate code snippets automatically based on the problem requirements in natural language. Recently, large language models (LLMs) achieve the SOTA performance on code generation. However, LLMs still struggle at times to generate accurate code, which diminishes their promised efficiency as developers must spend significant effort evaluating and debugging the generated code. To improve the reliability and quality of the generated codes, researchers propose to leverage Consistency to obtain a better code based on generating and ranking multiple candidates. The existing approach is problematic as Consistency thinks a code is better when (1) the code pass more tests (inter-consistency) (2) more codes share the same behavior (intra-consistency). However, because the tests are also generated by LLMs, they could be wrong as well. As a result, majority voting based on testing results is unreliable. Relying solely on consistency is insufficient to address this issue; integrating user feedback is essential for effectively guiding consistency. We show that with minimal human effort, performance can be significantly enhanced. We propose Consistency-Augmented Iterative Interaction Framework to Enhance the Reliability of Code Generation, ConAIR, which is an approach that aims to improve the performance of a code generator through two distinctive ingredients, i.e., (1) lightweight user effort for validating the correctness of selected tests; and (2) a dynamic strategy for ranking, localizing and correcting multiple tests and codes. Overall, we propose a lightweight interaction framework that incorporates user feedback to correct identified tests and guide the iterative process. The iteration rounds are only 4 in average with the help of consistency. With only lightweight human efforts, we can achieve an improvement of 33% towards the base model.

Interactive digital agents (IDAs) leverage APIs of stateful digital environments to perform tasks in response to user requests. While IDAs powered by instruction-tuned large language models (LLMs) can react to feedback from interface invocations in multi-step exchanges, they have not been trained in their respective digital environments. Prior methods accomplish less than half of tasks in sophisticated benchmarks such as AppWorld. We present a reinforcement learning (RL) approach that trains IDAs directly in their target environments. We formalize this training as a partially observable Markov decision process and derive LOOP, a data- and memory-efficient variant of proximal policy optimization. LOOP uses no value network and maintains exactly one copy of the underlying LLM in memory, making its implementation straightforward and as memory-efficient as fine-tuning a single LLM. A 32-billion-parameter agent trained with LOOP in the AppWorld environment outperforms the much larger OpenAI o1 agent by 9 percentage points (15% relative). To our knowledge, this is the first reported application of RL to IDAs that interact with a stateful, multi-domain, multi-app environment via direct API calls. Our analysis sheds light on the effectiveness of RL in this area, showing that the agent learns to consult the API documentation, avoid unwarranted assumptions, minimize confabulation, and recover from setbacks.

As mathematical computing becomes more democratized in high-level languages, high-performance symbolic-numeric systems are necessary for domain scientists and engineers to get the best performance out of their machine without deep knowledge of code optimization. Naturally, users need different term types either to have different algebraic properties for them, or to use efficient data structures. To this end, we developed Symbolics.jl, an extendable symbolic system which uses dynamic multiple dispatch to change behavior depending on the domain needs. In this work we detail an underlying abstract term interface which allows for speed without sacrificing generality. We show that by formalizing a generic API on actions independent of implementation, we can retroactively add optimized data structures to our system without changing the pre-existing term rewriters. We showcase how this can be used to optimize term construction and give a 113x acceleration on general symbolic transformations. Further, we show that such a generic API allows for complementary term-rewriting implementations. We demonstrate the ability to swap between classical term-rewriting simplifiers and e-graph-based term-rewriting simplifiers. We showcase an e-graph ruleset which minimizes the number of CPU cycles during expression evaluation, and demonstrate how it simplifies a real-world reaction-network simulation to halve the runtime. Additionally, we show a reaction-diffusion partial differential equation solver which is able to be automatically converted into symbolic expressions via multiple dispatch tracing, which is subsequently accelerated and parallelized to give a 157x simulation speedup. Together, this presents Symbolics.jl as a next-generation symbolic-numeric computing environment geared towards modeling and simulation.

Benefiting from the powerful capabilities of large language models (LLMs), agents based on LLMs have shown the potential to address domain-specific tasks and emulate human behaviors. However, the content generated by these agents remains somewhat superficial, owing to their limited domain expertise and the absence of an effective cognitive architecture. To address this, we present the Configurable General Multi-Agent Interaction (CGMI) framework, designed to replicate human interactions in real-world scenarios. Specifically, we propose a tree-structured methodology for the assignment, detection, and maintenance of agent personality. Additionally, we designed a cognitive architecture equipped with a skill library based on the ACT* model, which contains memory, reflection, and planning modules. We have also integrated general agents to augment the virtual environment's realism. Using the CGMI framework, we simulated numerous classroom interactions between teacher and students. The experiments indicate that aspects such as the teaching methodology, curriculum, and student performance closely mirror real classroom settings. We will open source our work.

Synthesizing interaction-involved human motions has been challenging due to the high complexity of 3D environments and the diversity of possible human behaviors within. We present LAMA, Locomotion-Action-MAnipulation, to synthesize natural and plausible long-term human movements in complex indoor environments. The key motivation of LAMA is to build a unified framework to encompass a series of everyday motions including locomotion, scene interaction, and object manipulation. Unlike existing methods that require motion data "paired" with scanned 3D scenes for supervision, we formulate the problem as a test-time optimization by using human motion capture data only for synthesis. LAMA leverages a reinforcement learning framework coupled with a motion matching algorithm for optimization, and further exploits a motion editing framework via manifold learning to cover possible variations in interaction and manipulation. Throughout extensive experiments, we demonstrate that LAMA outperforms previous approaches in synthesizing realistic motions in various challenging scenarios. Project page: https://jiyewise.github.io/projects/LAMA/ .

Diffusion-based image generation models such as DALL-E 3 and Stable Diffusion-XL demonstrate remarkable capabilities in generating images with realistic and unique compositions. Yet, these models are not robust in precisely reasoning about physical and spatial configurations of objects, especially when instructed with unconventional, thereby out-of-distribution descriptions, such as "a chair with five legs". In this paper, we propose a language agent with chain-of-3D-thoughts (L3GO), an inference-time approach that can reason about part-based 3D mesh generation of unconventional objects that current data-driven diffusion models struggle with. More concretely, we use large language models as agents to compose a desired object via trial-and-error within the 3D simulation environment. To facilitate our investigation, we develop a new benchmark, Unconventionally Feasible Objects (UFO), as well as SimpleBlenv, a wrapper environment built on top of Blender where language agents can build and compose atomic building blocks via API calls. Human and automatic GPT-4V evaluations show that our approach surpasses the standard GPT-4 and other language agents (e.g., ReAct and Reflexion) for 3D mesh generation on ShapeNet. Moreover, when tested on our UFO benchmark, our approach outperforms other state-of-the-art text-to-2D image and text-to-3D models based on human evaluation.

Realistic object interactions are crucial for creating immersive virtual experiences, yet synthesizing realistic 3D object dynamics in response to novel interactions remains a significant challenge. Unlike unconditional or text-conditioned dynamics generation, action-conditioned dynamics requires perceiving the physical material properties of objects and grounding the 3D motion prediction on these properties, such as object stiffness. However, estimating physical material properties is an open problem due to the lack of material ground-truth data, as measuring these properties for real objects is highly difficult. We present PhysDreamer, a physics-based approach that endows static 3D objects with interactive dynamics by leveraging the object dynamics priors learned by video generation models. By distilling these priors, PhysDreamer enables the synthesis of realistic object responses to novel interactions, such as external forces or agent manipulations. We demonstrate our approach on diverse examples of elastic objects and evaluate the realism of the synthesized interactions through a user study. PhysDreamer takes a step towards more engaging and realistic virtual experiences by enabling static 3D objects to dynamically respond to interactive stimuli in a physically plausible manner. See our project page at https://physdreamer.github.io/.

The advent of Multimodal LLMs has significantly enhanced image OCR recognition capabilities, making GUI automation a viable reality for increasing efficiency in digital tasks. One fundamental aspect of developing a GUI automation system is understanding primitive GUI actions. This comprehension is crucial as it enables agents to learn from user demonstrations, an essential element of automation. To rigorously evaluate such capabilities, we developed a video captioning benchmark for GUI actions, comprising 4,189 diverse video captioning samples. This task presents unique challenges compared to natural scene video captioning: 1) GUI screenshots typically contain denser information than natural scenes, and 2) events within GUIs are subtler and occur more rapidly, requiring precise attention to the appropriate time span and spatial region for accurate understanding. To address these challenges, we introduce our GUI action dataset Act2Cap as well as a simple yet effective framework, GUI Narrator, for GUI video captioning that utilizes the cursor as a visual prompt to enhance the interpretation of high-resolution screenshots. Specifically, a cursor detector is trained on our dataset, and a multimodal LLM model with mechanisms for selecting keyframes and key regions generates the captions. Experimental results indicate that even for today's most advanced multimodal models, such as GPT-4o, the task remains highly challenging. Additionally, our evaluations show that our strategy effectively enhances model performance, whether integrated into the fine-tuning of open-source models or employed as a prompting strategy in closed-source models.

This paper demonstrates how OpenAI's ChatGPT can be used in a few-shot setting to convert natural language instructions into a sequence of executable robot actions. The paper proposes easy-to-customize input prompts for ChatGPT that meet common requirements in practical applications, such as easy integration with robot execution systems and applicability to various environments while minimizing the impact of ChatGPT's token limit. The prompts encourage ChatGPT to output a sequence of predefined robot actions, represent the operating environment in a formalized style, and infer the updated state of the operating environment. Experiments confirmed that the proposed prompts enable ChatGPT to act according to requirements in various environments, and users can adjust ChatGPT's output with natural language feedback for safe and robust operation. The proposed prompts and source code are open-source and publicly available at https://github.com/microsoft/ChatGPT-Robot-Manipulation-Prompts

Graphical User Interfaces (GUIs) are central to our interaction with digital devices. Recently, growing efforts have been made to build models for various GUI understanding tasks. However, these efforts largely overlook an important GUI-referring task: screen reading based on user-indicated points, which we name the Screen Point-and-Read (SPR) task. This task is predominantly handled by rigid accessible screen reading tools, in great need of new models driven by advancements in Multimodal Large Language Models (MLLMs). In this paper, we propose a Tree-of-Lens (ToL) agent, utilizing a novel ToL grounding mechanism, to address the SPR task. Based on the input point coordinate and the corresponding GUI screenshot, our ToL agent constructs a Hierarchical Layout Tree. Based on the tree, our ToL agent not only comprehends the content of the indicated area but also articulates the layout and spatial relationships between elements. Such layout information is crucial for accurately interpreting information on the screen, distinguishing our ToL agent from other screen reading tools. We also thoroughly evaluate the ToL agent against other baselines on a newly proposed SPR benchmark, which includes GUIs from mobile, web, and operating systems. Last but not least, we test the ToL agent on mobile GUI navigation tasks, demonstrating its utility in identifying incorrect actions along the path of agent execution trajectories. Code and data: screen-point-and-read.github.io

Sketches are a natural and accessible medium for UI designers to conceptualize early-stage ideas. However, existing research on UI/UX automation often requires high-fidelity inputs like Figma designs or detailed screenshots, limiting accessibility and impeding efficient design iteration. To bridge this gap, we introduce Sketch2Code, a benchmark that evaluates state-of-the-art Vision Language Models (VLMs) on automating the conversion of rudimentary sketches into webpage prototypes. Beyond end-to-end benchmarking, Sketch2Code supports interactive agent evaluation that mimics real-world design workflows, where a VLM-based agent iteratively refines its generations by communicating with a simulated user, either passively receiving feedback instructions or proactively asking clarification questions. We comprehensively analyze ten commercial and open-source models, showing that Sketch2Code is challenging for existing VLMs; even the most capable models struggle to accurately interpret sketches and formulate effective questions that lead to steady improvement. Nevertheless, a user study with UI/UX experts reveals a significant preference for proactive question-asking over passive feedback reception, highlighting the need to develop more effective paradigms for multi-turn conversational agents.

Natural language programming is a promising approach to enable end users to instruct new tasks for intelligent agents. However, our formative study found that end users would often use unclear, ambiguous or vague concepts when naturally instructing tasks in natural language, especially when specifying conditionals. Existing systems have limited support for letting the user teach agents new concepts or explaining unclear concepts. In this paper, we describe a new multi-modal domain-independent approach that combines natural language programming and programming-by-demonstration to allow users to first naturally describe tasks and associated conditions at a high level, and then collaborate with the agent to recursively resolve any ambiguities or vagueness through conversations and demonstrations. Users can also define new procedures and concepts by demonstrating and referring to contents within GUIs of existing mobile apps. We demonstrate this approach in PUMICE, an end-user programmable agent that implements this approach. A lab study with 10 users showed its usability.

Temporal action abstractions, along with belief state representations, are a powerful knowledge sharing mechanism for sequential decision making. In this work, we propose a novel view that treats inducing temporal action abstractions as a sequence compression problem. To do so, we bring a subtle but critical component of LLM training pipelines -- input tokenization via byte pair encoding (BPE) -- to the seemingly distant task of learning skills of variable time span in continuous control domains. We introduce an approach called Primitive Sequence Encoding (PRISE) that combines continuous action quantization with BPE to learn powerful action abstractions. We empirically show that high-level skills discovered by PRISE from a multitask set of robotic manipulation demonstrations significantly boost the performance of both multitask imitation learning as well as few-shot imitation learning on unseen tasks. Our code will be released at https://github.com/FrankZheng2022/PRISE.

Large Language Models (LLMs) are increasingly being integrated into various applications. The functionalities of recent LLMs can be flexibly modulated via natural language prompts. This renders them susceptible to targeted adversarial prompting, e.g., Prompt Injection (PI) attacks enable attackers to override original instructions and employed controls. So far, it was assumed that the user is directly prompting the LLM. But, what if it is not the user prompting? We argue that LLM-Integrated Applications blur the line between data and instructions. We reveal new attack vectors, using Indirect Prompt Injection, that enable adversaries to remotely (without a direct interface) exploit LLM-integrated applications by strategically injecting prompts into data likely to be retrieved. We derive a comprehensive taxonomy from a computer security perspective to systematically investigate impacts and vulnerabilities, including data theft, worming, information ecosystem contamination, and other novel security risks. We demonstrate our attacks' practical viability against both real-world systems, such as Bing's GPT-4 powered Chat and code-completion engines, and synthetic applications built on GPT-4. We show how processing retrieved prompts can act as arbitrary code execution, manipulate the application's functionality, and control how and if other APIs are called. Despite the increasing integration and reliance on LLMs, effective mitigations of these emerging threats are currently lacking. By raising awareness of these vulnerabilities and providing key insights into their implications, we aim to promote the safe and responsible deployment of these powerful models and the development of robust defenses that protect users and systems from potential attacks.

Recent interest in human-AI interactions in agent-based modeling and simulation (ABMS) has grown rapidly due to the widespread utilization of large language models (LLMs). ABMS is an intelligent approach that simulates autonomous agents' behaviors within a defined environment to research emergent phenomena. Integrating LLMs into ABMS enables natural language interaction between humans and models. Meanwhile, it introduces new challenges that rely on human interaction to address. Human involvement can assist ABMS in adapting to flexible and complex research demands. However, systematic reviews of interactions that examine how humans and AI interact in ABMS are lacking. In this paper, we investigate existing works and propose a novel taxonomy to categorize the interactions derived from them. Specifically, human users refer to researchers who utilize ABMS tools to conduct their studies in our survey. We decompose interactions into five dimensions: the goals that users want to achieve (Why), the phases that users are involved (When), the components of the system (What), the roles of users (Who), and the means of interactions (How). Our analysis summarizes the findings that reveal existing interaction patterns. They provide researchers who develop interactions with comprehensive guidance on how humans and AI interact. We further discuss the unexplored interactions and suggest future research directions.

The final frontier for simulation is the accurate representation of complex, real-world social systems. While agent-based modeling (ABM) seeks to study the behavior and interactions of agents within a larger system, it is unable to faithfully capture the full complexity of human-driven behavior. Large language models (LLMs), like ChatGPT, have emerged as a potential solution to this bottleneck by enabling researchers to explore human-driven interactions in previously unimaginable ways. Our research investigates simulations of human interactions using LLMs. Through prompt engineering, inspired by Park et al. (2023), we present two simulations of believable proxies of human behavior: a two-agent negotiation and a six-agent murder mystery game.

Affordance, defined as the potential actions that an object offers, is crucial for robotic manipulation tasks. A deep understanding of affordance can lead to more intelligent AI systems. For example, such knowledge directs an agent to grasp a knife by the handle for cutting and by the blade when passing it to someone. In this paper, we present a streamlined affordance learning system that encompasses data collection, effective model training, and robot deployment. First, we collect training data from egocentric videos in an automatic manner. Different from previous methods that focus only on the object graspable affordance and represent it as coarse heatmaps, we cover both graspable (e.g., object handles) and functional affordances (e.g., knife blades, hammer heads) and extract data with precise segmentation masks. We then propose an effective model, termed Geometry-guided Affordance Transformer (GKT), to train on the collected data. GKT integrates an innovative Depth Feature Injector (DFI) to incorporate 3D shape and geometric priors, enhancing the model's understanding of affordances. To enable affordance-oriented manipulation, we further introduce Aff-Grasp, a framework that combines GKT with a grasp generation model. For comprehensive evaluation, we create an affordance evaluation dataset with pixel-wise annotations, and design real-world tasks for robot experiments. The results show that GKT surpasses the state-of-the-art by 15.9% in mIoU, and Aff-Grasp achieves high success rates of 95.5% in affordance prediction and 77.1% in successful grasping among 179 trials, including evaluations with seen, unseen objects, and cluttered scenes.

Foundation models pretrained on diverse data at scale have demonstrated extraordinary capabilities in a wide range of vision and language tasks. When such models are deployed in real world environments, they inevitably interface with other entities and agents. For example, language models are often used to interact with human beings through dialogue, and visual perception models are used to autonomously navigate neighborhood streets. In response to these developments, new paradigms are emerging for training foundation models to interact with other agents and perform long-term reasoning. These paradigms leverage the existence of ever-larger datasets curated for multimodal, multitask, and generalist interaction. Research at the intersection of foundation models and decision making holds tremendous promise for creating powerful new systems that can interact effectively across a diverse range of applications such as dialogue, autonomous driving, healthcare, education, and robotics. In this manuscript, we examine the scope of foundation models for decision making, and provide conceptual tools and technical background for understanding the problem space and exploring new research directions. We review recent approaches that ground foundation models in practical decision making applications through a variety of methods such as prompting, conditional generative modeling, planning, optimal control, and reinforcement learning, and discuss common challenges and open problems in the field.

This study introduces Conversation Routines (CR), a structured prompt engineering framework for developing task-oriented dialog systems using Large Language Models (LLMs). While LLMs demonstrate remarkable natural language understanding capabilities, engineering them to reliably execute complex business workflows remains challenging. The proposed CR framework enables the development of Conversation Agentic Systems (CAS) through natural language specifications, embedding task-oriented logic within LLM prompts. This approach provides a systematic methodology for designing and implementing complex conversational workflows while maintaining behavioral consistency. We demonstrate the framework's effectiveness through two proof-of-concept implementations: a Train Ticket Booking System and an Interactive Troubleshooting Copilot. These case studies validate CR's capability to encode sophisticated behavioral patterns and decision logic while preserving natural conversational flexibility. Results show that CR enables domain experts to design conversational workflows in natural language while leveraging custom functions (tools) developed by software engineers, creating an efficient division of responsibilities where developers focus on core API implementation and domain experts handle conversation design. While the framework shows promise in accessibility and adaptability, we identify key challenges including computational overhead, non-deterministic behavior, and domain-specific logic optimization. Future research directions include CR evaluation methods based on prompt engineering frameworks driven by goal-oriented grading criteria, improving scalability for complex multi-agent interactions, and enhancing system robustness to address the identified limitations across diverse business applications.

The advanced role-playing capabilities of Large Language Models (LLMs) have paved the way for developing Role-Playing Agents (RPAs). However, existing benchmarks in social interaction such as HPD and SocialBench have not investigated hallucination and face limitations like poor generalizability and implicit judgments for character fidelity. To address these issues, we propose a generalizable, explicit and effective paradigm to unlock the interactive patterns in diverse worldviews. Specifically, we define the interactive hallucination based on stance transfer and construct a benchmark, SHARP, by extracting relations from a general commonsense knowledge graph and leveraging the inherent hallucination properties of RPAs to simulate interactions across roles. Extensive experiments validate the effectiveness and stability of our paradigm. Our findings further explore the factors influencing these metrics and discuss the trade-off between blind loyalty to roles and adherence to facts in RPAs.

Interactive Natural Language Processing (iNLP) has emerged as a novel paradigm within the field of NLP, aimed at addressing limitations in existing frameworks while aligning with the ultimate goals of artificial intelligence. This paradigm considers language models as agents capable of observing, acting, and receiving feedback iteratively from external entities. Specifically, language models in this context can: (1) interact with humans for better understanding and addressing user needs, personalizing responses, aligning with human values, and improving the overall user experience; (2) interact with knowledge bases for enriching language representations with factual knowledge, enhancing the contextual relevance of responses, and dynamically leveraging external information to generate more accurate and informed responses; (3) interact with models and tools for effectively decomposing and addressing complex tasks, leveraging specialized expertise for specific subtasks, and fostering the simulation of social behaviors; and (4) interact with environments for learning grounded representations of language, and effectively tackling embodied tasks such as reasoning, planning, and decision-making in response to environmental observations. This paper offers a comprehensive survey of iNLP, starting by proposing a unified definition and framework of the concept. We then provide a systematic classification of iNLP, dissecting its various components, including interactive objects, interaction interfaces, and interaction methods. We proceed to delve into the evaluation methodologies used in the field, explore its diverse applications, scrutinize its ethical and safety issues, and discuss prospective research directions. This survey serves as an entry point for researchers who are interested in this rapidly evolving area and offers a broad view of the current landscape and future trajectory of iNLP.

Existing text-to-image (T2I) diffusion models usually struggle in interpreting complex prompts, especially those with quantity, object-attribute binding, and multi-subject descriptions. In this work, we introduce a semantic panel as the middleware in decoding texts to images, supporting the generator to better follow instructions. The panel is obtained through arranging the visual concepts parsed from the input text by the aid of large language models, and then injected into the denoising network as a detailed control signal to complement the text condition. To facilitate text-to-panel learning, we come up with a carefully designed semantic formatting protocol, accompanied by a fully-automatic data preparation pipeline. Thanks to such a design, our approach, which we call Ranni, manages to enhance a pre-trained T2I generator regarding its textual controllability. More importantly, the introduction of the generative middleware brings a more convenient form of interaction (i.e., directly adjusting the elements in the panel or using language instructions) and further allows users to finely customize their generation, based on which we develop a practical system and showcase its potential in continuous generation and chatting-based editing. Our project page is at https://ranni-t2i.github.io/Ranni.

With the goal of understanding the visual concepts that CLIP associates with text prompts, we show that the latent space of CLIP can be visualized solely in terms of linear transformations on simple geometric primitives like circles and straight lines. Although existing approaches achieve this by sketch-synthesis-through-optimization, they do so on the space of B\'ezier curves, which exhibit a wastefully large set of structures that they can evolve into, as most of them are non-essential for generating meaningful sketches. We present CLIPDrawX, an algorithm that provides significantly better visualizations for CLIP text embeddings, using only simple primitive shapes like straight lines and circles. This constrains the set of possible outputs to linear transformations on these primitives, thereby exhibiting an inherently simpler mathematical form. The synthesis process of CLIPDrawX can be tracked end-to-end, with each visual concept being explained exclusively in terms of primitives. Implementation will be released upon acceptance. Project Page: https://clipdrawx.github.io/{https://clipdrawx.github.io/}.

This paper presents the second ChatGPT4PCG competition at the 2024 IEEE Conference on Games. In this edition of the competition, we follow the first edition, but make several improvements and changes. We introduce a new evaluation metric along with allowing a more flexible format for participants' submissions and making several improvements to the evaluation pipeline. Continuing from the first edition, we aim to foster and explore the realm of prompt engineering (PE) for procedural content generation (PCG). While the first competition saw success, it was hindered by various limitations; we aim to mitigate these limitations in this edition. We introduce diversity as a new metric to discourage submissions aimed at producing repetitive structures. Furthermore, we allow submission of a Python program instead of a prompt text file for greater flexibility in implementing advanced PE approaches, which may require control flow, including conditions and iterations. We also make several improvements to the evaluation pipeline with a better classifier for similarity evaluation and better-performing function signatures. We thoroughly evaluate the effectiveness of the new metric and the improved classifier. Additionally, we perform an ablation study to select a function signature to instruct ChatGPT for level generation. Finally, we provide implementation examples of various PE techniques in Python and evaluate their preliminary performance. We hope this competition serves as a resource and platform for learning about PE and PCG in general.

Information graphics are pivotal in effective information dissemination and storytelling. However, creating such graphics is extremely challenging for non-professionals, since the design process requires multifaceted skills and comprehensive knowledge. Thus, despite the many available authoring tools, a significant gap remains in enabling non-experts to produce compelling information graphics seamlessly, especially from scratch. Recent breakthroughs show that Large Language Models (LLMs), especially when tool-augmented, can autonomously engage with external tools, making them promising candidates for enabling innovative graphic design applications. In this work, we propose a LLM-centric interface with the agent GraphiMind for automatic generation, recommendation, and composition of information graphics design resources, based on user intent expressed through natural language. Our GraphiMind integrates a Textual Conversational Interface, powered by tool-augmented LLM, with a traditional Graphical Manipulation Interface, streamlining the entire design process from raw resource curation to composition and refinement. Extensive evaluations highlight our tool's proficiency in simplifying the design process, opening avenues for its use by non-professional users. Moreover, we spotlight the potential of LLMs in reshaping the domain of information graphics design, offering a blend of automation, versatility, and user-centric interactivity.

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their performance because they are usually applied in different domains, for different purposes, and built based on different inputs and outputs. Furthermore, existing evaluations tend to rely solely on a final success rate, making it difficult to pinpoint what ability is missing in LLMs and where the problem lies, which in turn blocks embodied agents from leveraging LLMs effectively and selectively. To address these limitations, we propose a generalized interface (Embodied Agent Interface) that supports the formalization of various types of tasks and input-output specifications of LLM-based modules. Specifically, it allows us to unify 1) a broad set of embodied decision-making tasks involving both state and temporally extended goals, 2) four commonly-used LLM-based modules for decision making: goal interpretation, subgoal decomposition, action sequencing, and transition modeling, and 3) a collection of fine-grained metrics which break down evaluation into various types of errors, such as hallucination errors, affordance errors, various types of planning errors, etc. Overall, our benchmark offers a comprehensive assessment of LLMs' performance for different subtasks, pinpointing the strengths and weaknesses in LLM-powered embodied AI systems, and providing insights for effective and selective use of LLMs in embodied decision making.

We present Large Language Model for Mixed Reality (LLMR), a framework for the real-time creation and modification of interactive Mixed Reality experiences using LLMs. LLMR leverages novel strategies to tackle difficult cases where ideal training data is scarce, or where the design goal requires the synthesis of internal dynamics, intuitive analysis, or advanced interactivity. Our framework relies on text interaction and the Unity game engine. By incorporating techniques for scene understanding, task planning, self-debugging, and memory management, LLMR outperforms the standard GPT-4 by 4x in average error rate. We demonstrate LLMR's cross-platform interoperability with several example worlds, and evaluate it on a variety of creation and modification tasks to show that it can produce and edit diverse objects, tools, and scenes. Finally, we conducted a usability study (N=11) with a diverse set that revealed participants had positive experiences with the system and would use it again.

3D simulated environments play a critical role in Embodied AI, but their creation requires expertise and extensive manual effort, restricting their diversity and scope. To mitigate this limitation, we present Holodeck, a system that generates 3D environments to match a user-supplied prompt fully automatedly. Holodeck can generate diverse scenes, e.g., arcades, spas, and museums, adjust the designs for styles, and can capture the semantics of complex queries such as "apartment for a researcher with a cat" and "office of a professor who is a fan of Star Wars". Holodeck leverages a large language model (GPT-4) for common sense knowledge about what the scene might look like and uses a large collection of 3D assets from Objaverse to populate the scene with diverse objects. To address the challenge of positioning objects correctly, we prompt GPT-4 to generate spatial relational constraints between objects and then optimize the layout to satisfy those constraints. Our large-scale human evaluation shows that annotators prefer Holodeck over manually designed procedural baselines in residential scenes and that Holodeck can produce high-quality outputs for diverse scene types. We also demonstrate an exciting application of Holodeck in Embodied AI, training agents to navigate in novel scenes like music rooms and daycares without human-constructed data, which is a significant step forward in developing general-purpose embodied agents.

Achieving machine autonomy and human control often represent divergent objectives in the design of interactive AI systems. Visual generative foundation models such as Stable Diffusion show promise in navigating these goals, especially when prompted with arbitrary languages. However, they often fall short in generating images with spatial, structural, or geometric controls. The integration of such controls, which can accommodate various visual conditions in a single unified model, remains an unaddressed challenge. In response, we introduce UniControl, a new generative foundation model that consolidates a wide array of controllable condition-to-image (C2I) tasks within a singular framework, while still allowing for arbitrary language prompts. UniControl enables pixel-level-precise image generation, where visual conditions primarily influence the generated structures and language prompts guide the style and context. To equip UniControl with the capacity to handle diverse visual conditions, we augment pretrained text-to-image diffusion models and introduce a task-aware HyperNet to modulate the diffusion models, enabling the adaptation to different C2I tasks simultaneously. Trained on nine unique C2I tasks, UniControl demonstrates impressive zero-shot generation abilities with unseen visual conditions. Experimental results show that UniControl often surpasses the performance of single-task-controlled methods of comparable model sizes. This control versatility positions UniControl as a significant advancement in the realm of controllable visual generation.

We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to deployable robot policies. UMI employs hand-held grippers coupled with careful interface design to enable portable, low-cost, and information-rich data collection for challenging bimanual and dynamic manipulation demonstrations. To facilitate deployable policy learning, UMI incorporates a carefully designed policy interface with inference-time latency matching and a relative-trajectory action representation. The resulting learned policies are hardware-agnostic and deployable across multiple robot platforms. Equipped with these features, UMI framework unlocks new robot manipulation capabilities, allowing zero-shot generalizable dynamic, bimanual, precise, and long-horizon behaviors, by only changing the training data for each task. We demonstrate UMI's versatility and efficacy with comprehensive real-world experiments, where policies learned via UMI zero-shot generalize to novel environments and objects when trained on diverse human demonstrations. UMI's hardware and software system is open-sourced at https://umi-gripper.github.io.

Sketching serves as a versatile tool for externalizing ideas, enabling rapid exploration and visual communication that spans various disciplines. While artificial systems have driven substantial advances in content creation and human-computer interaction, capturing the dynamic and abstract nature of human sketching remains challenging. In this work, we introduce SketchAgent, a language-driven, sequential sketch generation method that enables users to create, modify, and refine sketches through dynamic, conversational interactions. Our approach requires no training or fine-tuning. Instead, we leverage the sequential nature and rich prior knowledge of off-the-shelf multimodal large language models (LLMs). We present an intuitive sketching language, introduced to the model through in-context examples, enabling it to "draw" using string-based actions. These are processed into vector graphics and then rendered to create a sketch on a pixel canvas, which can be accessed again for further tasks. By drawing stroke by stroke, our agent captures the evolving, dynamic qualities intrinsic to sketching. We demonstrate that SketchAgent can generate sketches from diverse prompts, engage in dialogue-driven drawing, and collaborate meaningfully with human users.

The recent advances in Large Language Models (LLMs) have stimulated interest among researchers and industry professionals, particularly in their application to tasks concerning mobile user interfaces (UIs). This position paper investigates the use of LLMs for UI layout generation. Central to our exploration is the introduction of UI grammar -- a novel approach we proposed to represent the hierarchical structure inherent in UI screens. The aim of this approach is to guide the generative capacities of LLMs more effectively and improve the explainability and controllability of the process. Initial experiments conducted with GPT-4 showed the promising capability of LLMs to produce high-quality user interfaces via in-context learning. Furthermore, our preliminary comparative study suggested the potential of the grammar-based approach in improving the quality of generative results in specific aspects.

We present PACE, a novel method for modifying motion-captured virtual agents to interact with and move throughout dense, cluttered 3D scenes. Our approach changes a given motion sequence of a virtual agent as needed to adjust to the obstacles and objects in the environment. We first take the individual frames of the motion sequence most important for modeling interactions with the scene and pair them with the relevant scene geometry, obstacles, and semantics such that interactions in the agents motion match the affordances of the scene (e.g., standing on a floor or sitting in a chair). We then optimize the motion of the human by directly altering the high-DOF pose at each frame in the motion to better account for the unique geometric constraints of the scene. Our formulation uses novel loss functions that maintain a realistic flow and natural-looking motion. We compare our method with prior motion generating techniques and highlight the benefits of our method with a perceptual study and physical plausibility metrics. Human raters preferred our method over the prior approaches. Specifically, they preferred our method 57.1% of the time versus the state-of-the-art method using existing motions, and 81.0% of the time versus a state-of-the-art motion synthesis method. Additionally, our method performs significantly higher on established physical plausibility and interaction metrics. Specifically, we outperform competing methods by over 1.2% in terms of the non-collision metric and by over 18% in terms of the contact metric. We have integrated our interactive system with Microsoft HoloLens and demonstrate its benefits in real-world indoor scenes. Our project website is available at https://gamma.umd.edu/pace/.

Mobile app user interfaces (UIs) are rich with action, text, structure, and image content that can be utilized to learn generic UI representations for tasks like automating user commands, summarizing content, and evaluating the accessibility of user interfaces. Prior work has learned strong visual representations with local or global captioning losses, but fails to retain both granularities. To combat this, we propose Textual Foresight, a novel pretraining objective for learning UI screen representations. Textual Foresight generates global text descriptions of future UI states given a current UI and local action taken. Our approach requires joint reasoning over elements and entire screens, resulting in improved UI features: on generation tasks, UI agents trained with Textual Foresight outperform state-of-the-art by 2% with 28x fewer images. We train with our newly constructed mobile app dataset, OpenApp, which results in the first public dataset for app UI representation learning. OpenApp enables new baselines, and we find Textual Foresight improves average task performance over them by 5.7% while having access to 2x less data.

Graphical User Interface (GUI) action grounding is a critical step in GUI automation that maps language instructions to actionable elements on GUI screens. Most recent works of GUI action grounding leverage large GUI datasets to fine-tune MLLMs. However, the fine-tuning data always covers limited GUI environments, and we find the performance of the resulting model deteriorates in novel environments. We argue that the GUI grounding models should be further aligned to the novel environments to reveal their full potential, when the inference is known to involve novel environments, i.e., environments not used during the previous fine-tuning. To realize this, we first propose GUI-Bee, an MLLM-based autonomous agent, to collect high-quality, environment-specific data through exploration and then continuously fine-tune GUI grounding models with the collected data. Our agent leverages a novel Q-value-Incentive In-Context Reinforcement Learning (Q-ICRL) method to optimize exploration efficiency and data quality. Additionally, we introduce NovelScreenSpot, a benchmark for testing how well the data can help align GUI action grounding models to novel environments and demonstrate the effectiveness of data collected by GUI-Bee in the experiments. Furthermore, we conduct an ablation study to validate the Q-ICRL method in enhancing the efficiency of GUI-Bee. Project page: https://gui-bee.github.io

Layout design is an important task in various design fields, including user interface, document, and graphic design. As this task requires tedious manual effort by designers, prior works have attempted to automate this process using generative models, but commonly fell short of providing intuitive user controls and achieving design objectives. In this paper, we build a conditional latent diffusion model, PLay, that generates parametrically conditioned layouts in vector graphic space from user-specified guidelines, which are commonly used by designers for representing their design intents in current practices. Our method outperforms prior works across three datasets on metrics including FID and FD-VG, and in user study. Moreover, it brings a novel and interactive experience to professional layout design processes.

Recently, tool-augmented LLMs have gained increasing attention. Given an instruction, tool-augmented LLMs can interact with various external tools in multiple rounds and provide a final answer. However, previous LLMs were trained on overly detailed instructions, which included API names or parameters, while real users would not explicitly mention these API details. This leads to a gap between trained LLMs and real-world scenarios. In addition, most works ignore whether the interaction process follows the instruction. To address these issues, we constructed a training dataset called MGToolBench, which contains statement and category-level instructions to better reflect real-world scenarios. In addition, we propose ToolPlanner, a two-stage reinforcement learning framework that utilizes path planning and two feedback mechanisms to enhance the LLM's task completion and instruction-following capabilities. Experimental results show that ToolPlanner significantly improves the Match Rate, Pass Rate and Win Rate by 26.8%, 20.2%, and 5.6% compared to the SOTA model. Human evaluation verifies that the multi-granularity instructions can better align with users' usage habits. Our data and code will be released upon acceptance.

The Graphical User Interface (GUI) is how users interact with mobile apps. To ensure it functions properly, testing engineers have to make sure it functions as intended, based on test requirements that are typically written in natural language. While widely adopted manual testing and script-based methods are effective, they demand substantial effort due to the vast number of GUI pages and rapid iterations in modern mobile apps. This paper introduces AUITestAgent, the first automatic, natural language-driven GUI testing tool for mobile apps, capable of fully automating the entire process of GUI interaction and function verification. Since test requirements typically contain interaction commands and verification oracles. AUITestAgent can extract GUI interactions from test requirements via dynamically organized agents. Then, AUITestAgent employs a multi-dimensional data extraction strategy to retrieve data relevant to the test requirements from the interaction trace and perform verification. Experiments on customized benchmarks demonstrate that AUITestAgent outperforms existing tools in the quality of generated GUI interactions and achieved the accuracy of verifications of 94%. Moreover, field deployment in Meituan has shown AUITestAgent's practical usability, with it detecting 4 new functional bugs during 10 regression tests in two months.

We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each problem instance by utilizing problem-specific parameters, allowing for finding solutions faster and of better quality. The diffusion models used in our approach are trained on randomly cut solution trajectories. These trajectories are created by solving randomly generated problem instances with a kinodynamic motion planner. Experimental results show significant improvements up to 30 percent in both computation time and solution quality across varying robot dynamics such as second-order unicycle or car with trailer.

As mobile devices are becoming ubiquitous, regularly interacting with a variety of user interfaces (UIs) is a common aspect of daily life for many people. To improve the accessibility of these devices and to enable their usage in a variety of settings, building models that can assist users and accomplish tasks through the UI is vitally important. However, there are several challenges to achieve this. First, UI components of similar appearance can have different functionalities, making understanding their function more important than just analyzing their appearance. Second, domain-specific features like Document Object Model (DOM) in web pages and View Hierarchy (VH) in mobile applications provide important signals about the semantics of UI elements, but these features are not in a natural language format. Third, owing to a large diversity in UIs and absence of standard DOM or VH representations, building a UI understanding model with high coverage requires large amounts of training data. Inspired by the success of pre-training based approaches in NLP for tackling a variety of problems in a data-efficient way, we introduce a new pre-trained UI representation model called ActionBert. Our methodology is designed to leverage visual, linguistic and domain-specific features in user interaction traces to pre-train generic feature representations of UIs and their components. Our key intuition is that user actions, e.g., a sequence of clicks on different UI components, reveals important information about their functionality. We evaluate the proposed model on a wide variety of downstream tasks, ranging from icon classification to UI component retrieval based on its natural language description. Experiments show that the proposed ActionBert model outperforms multi-modal baselines across all downstream tasks by up to 15.5%.

Deep generative models have been recently extended to synthesizing 3D digital humans. However, previous approaches treat clothed humans as a single chunk of geometry without considering the compositionality of clothing and accessories. As a result, individual items cannot be naturally composed into novel identities, leading to limited expressiveness and controllability of generative 3D avatars. While several methods attempt to address this by leveraging synthetic data, the interaction between humans and objects is not authentic due to the domain gap, and manual asset creation is difficult to scale for a wide variety of objects. In this work, we present a novel framework for learning a compositional generative model of humans and objects (backpacks, coats, scarves, and more) from real-world 3D scans. Our compositional model is interaction-aware, meaning the spatial relationship between humans and objects, and the mutual shape change by physical contact is fully incorporated. The key challenge is that, since humans and objects are in contact, their 3D scans are merged into a single piece. To decompose them without manual annotations, we propose to leverage two sets of 3D scans of a single person with and without objects. Our approach learns to decompose objects and naturally compose them back into a generative human model in an unsupervised manner. Despite our simple setup requiring only the capture of a single subject with objects, our experiments demonstrate the strong generalization of our model by enabling the natural composition of objects to diverse identities in various poses and the composition of multiple objects, which is unseen in training data. https://taeksuu.github.io/ncho/

Graphical User Interface (GUI) agents are designed to automate complex tasks on digital devices, such as smartphones and desktops. Most existing GUI agents interact with the environment through extracted structured data, which can be notably lengthy (e.g., HTML) and occasionally inaccessible (e.g., on desktops). To alleviate this issue, we propose a visual GUI agent -- SeeClick, which only relies on screenshots for task automation. In our preliminary study, we have discovered a key challenge in developing visual GUI agents: GUI grounding -- the capacity to accurately locate screen elements based on instructions. To tackle this challenge, we propose to enhance SeeClick with GUI grounding pre-training and devise a method to automate the curation of GUI grounding data. Along with the efforts above, we have also created ScreenSpot, the first realistic GUI grounding dataset that encompasses mobile, desktop, and web environments. After pre-training, SeeClick demonstrates significant improvement in ScreenSpot over various baselines. Moreover, comprehensive evaluations on three widely used benchmarks consistently support our finding that advancements in GUI grounding directly correlate with enhanced performance in downstream GUI agent tasks. The model, data and code are available at https://github.com/njucckevin/SeeClick.

Real-time rendering and animation of humans is a core function in games, movies, and telepresence applications. Existing methods have a number of drawbacks we aim to address with our work. Triangle meshes have difficulty modeling thin structures like hair, volumetric representations like Neural Volumes are too low-resolution given a reasonable memory budget, and high-resolution implicit representations like Neural Radiance Fields are too slow for use in real-time applications. We present Mixture of Volumetric Primitives (MVP), a representation for rendering dynamic 3D content that combines the completeness of volumetric representations with the efficiency of primitive-based rendering, e.g., point-based or mesh-based methods. Our approach achieves this by leveraging spatially shared computation with a deconvolutional architecture and by minimizing computation in empty regions of space with volumetric primitives that can move to cover only occupied regions. Our parameterization supports the integration of correspondence and tracking constraints, while being robust to areas where classical tracking fails, such as around thin or translucent structures and areas with large topological variability. MVP is a hybrid that generalizes both volumetric and primitive-based representations. Through a series of extensive experiments we demonstrate that it inherits the strengths of each, while avoiding many of their limitations. We also compare our approach to several state-of-the-art methods and demonstrate that MVP produces superior results in terms of quality and runtime performance.

The recently released model, Claude 3.5 Computer Use, stands out as the first frontier AI model to offer computer use in public beta as a graphical user interface (GUI) agent. As an early beta, its capability in the real-world complex environment remains unknown. In this case study to explore Claude 3.5 Computer Use, we curate and organize a collection of carefully designed tasks spanning a variety of domains and software. Observations from these cases demonstrate Claude 3.5 Computer Use's unprecedented ability in end-to-end language to desktop actions. Along with this study, we provide an out-of-the-box agent framework for deploying API-based GUI automation models with easy implementation. Our case studies aim to showcase a groundwork of capabilities and limitations of Claude 3.5 Computer Use with detailed analyses and bring to the fore questions about planning, action, and critic, which must be considered for future improvement. We hope this preliminary exploration will inspire future research into the GUI agent community. All the test cases in the paper can be tried through the project: https://github.com/showlab/computer_use_ootb.

While large language models (LLMs) are increasingly being used for program synthesis, they lack the global view needed to develop useful abstractions; they generally predict programs one at a time, often repeating the same functionality. Generating redundant code from scratch is both inefficient and error-prone. To address this, we propose Refactoring for Generalizable Abstraction Learning (ReGAL), a gradient-free method for learning a library of reusable functions via code refactorization, i.e. restructuring code without changing its execution output. ReGAL learns from a small set of existing programs, iteratively verifying and refining its abstractions via execution. We find that the shared function libraries discovered by ReGAL make programs easier to predict across diverse domains. On three datasets (LOGO graphics generation, Date reasoning, and TextCraft, a Minecraft-based text game), both open-source and proprietary LLMs improve in accuracy when predicting programs with ReGAL functions. For CodeLlama-13B, ReGAL results in absolute accuracy increases of 11.5% on graphics, 26.1% on date understanding, and 8.1% on TextCraft, outperforming GPT-3.5 in two of three domains. Our analysis reveals ReGAL's abstractions encapsulate frequently-used subroutines as well as environment dynamics.

This paper introduces UI-TARS, a native GUI agent model that solely perceives the screenshots as input and performs human-like interactions (e.g., keyboard and mouse operations). Unlike prevailing agent frameworks that depend on heavily wrapped commercial models (e.g., GPT-4o) with expert-crafted prompts and workflows, UI-TARS is an end-to-end model that outperforms these sophisticated frameworks. Experiments demonstrate its superior performance: UI-TARS achieves SOTA performance in 10+ GUI agent benchmarks evaluating perception, grounding, and GUI task execution. Notably, in the OSWorld benchmark, UI-TARS achieves scores of 24.6 with 50 steps and 22.7 with 15 steps, outperforming Claude (22.0 and 14.9 respectively). In AndroidWorld, UI-TARS achieves 46.6, surpassing GPT-4o (34.5). UI-TARS incorporates several key innovations: (1) Enhanced Perception: leveraging a large-scale dataset of GUI screenshots for context-aware understanding of UI elements and precise captioning; (2) Unified Action Modeling, which standardizes actions into a unified space across platforms and achieves precise grounding and interaction through large-scale action traces; (3) System-2 Reasoning, which incorporates deliberate reasoning into multi-step decision making, involving multiple reasoning patterns such as task decomposition, reflection thinking, milestone recognition, etc. (4) Iterative Training with Reflective Online Traces, which addresses the data bottleneck by automatically collecting, filtering, and reflectively refining new interaction traces on hundreds of virtual machines. Through iterative training and reflection tuning, UI-TARS continuously learns from its mistakes and adapts to unforeseen situations with minimal human intervention. We also analyze the evolution path of GUI agents to guide the further development of this domain.

We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human motions and the 3D scenes they interact with. However, such interaction data are costly, difficult to capture, and can hardly cover all plausible human-scene interactions in complex environments. To address these challenges, we propose a reinforcement learning-based approach that enables virtual humans to navigate in 3D scenes and interact with objects realistically and autonomously, driven by learned motion control policies. The motion control policies employ latent motion action spaces, which correspond to realistic motion primitives and are learned from large-scale motion capture data using a powerful generative motion model. For navigation in a 3D environment, we propose a scene-aware policy with novel state and reward designs for collision avoidance. Combined with navigation mesh-based path-finding algorithms to generate intermediate waypoints, our approach enables the synthesis of diverse human motions navigating in 3D indoor scenes and avoiding obstacles. To generate fine-grained human-object interactions, we carefully curate interaction goal guidance using a marker-based body representation and leverage features based on the signed distance field (SDF) to encode human-scene proximity relations. Our method can synthesize realistic and diverse human-object interactions (e.g.,~sitting on a chair and then getting up) even for out-of-distribution test scenarios with different object shapes, orientations, starting body positions, and poses. Experimental results demonstrate that our approach outperforms state-of-the-art methods in terms of both motion naturalness and diversity. Code and video results are available at: https://zkf1997.github.io/DIMOS.

Recent advances in generative modeling have spurred a resurgence in the field of Embodied Artificial Intelligence (EAI). EAI systems typically deploy large language models to physical systems capable of interacting with their environment. In our exploration of EAI for industrial domains, we successfully demonstrate the feasibility of co-located, human-robot teaming. Specifically, we construct an experiment where an Augmented Reality (AR) headset mediates information exchange between an EAI agent and human operator for a variety of inspection tasks. To our knowledge the use of an AR headset for multimodal grounding and the application of EAI to industrial tasks are novel contributions within Embodied AI research. In addition, we highlight potential pitfalls in EAI's construction by providing quantitative and qualitative analysis on prompt robustness.

Recent advances in internet-scale video data pretraining have led to the development of text-to-video generative models that can create high-quality videos across a broad range of visual concepts, synthesize realistic motions and render complex objects. Hence, these generative models have the potential to become general-purpose simulators of the physical world. However, it is unclear how far we are from this goal with the existing text-to-video generative models. To this end, we present VideoPhy, a benchmark designed to assess whether the generated videos follow physical commonsense for real-world activities (e.g. marbles will roll down when placed on a slanted surface). Specifically, we curate diverse prompts that involve interactions between various material types in the physical world (e.g., solid-solid, solid-fluid, fluid-fluid). We then generate videos conditioned on these captions from diverse state-of-the-art text-to-video generative models, including open models (e.g., CogVideoX) and closed models (e.g., Lumiere, Dream Machine). Our human evaluation reveals that the existing models severely lack the ability to generate videos adhering to the given text prompts, while also lack physical commonsense. Specifically, the best performing model, CogVideoX-5B, generates videos that adhere to the caption and physical laws for 39.6% of the instances. VideoPhy thus highlights that the video generative models are far from accurately simulating the physical world. Finally, we propose an auto-evaluator, VideoCon-Physics, to assess the performance reliably for the newly released models.

Coding assistants are increasingly leveraged in game design, both generating code and making high-level plans. To what degree can these tools align with developer workflows, and what new modes of human-computer interaction can emerge from their use? We present DreamGarden, an AI system capable of assisting with the development of diverse game environments in Unreal Engine. At the core of our method is an LLM-driven planner, capable of breaking down a single, high-level prompt -- a dream, memory, or imagined scenario provided by a human user -- into a hierarchical action plan, which is then distributed across specialized submodules facilitating concrete implementation. This system is presented to the user as a garden of plans and actions, both growing independently and responding to user intervention via seed prompts, pruning, and feedback. Through a user study, we explore design implications of this system, charting courses for future work in semi-autonomous assistants and open-ended simulation design.

AI agents powered by Large Language Models (LLMs) have made significant advances, enabling them to assist humans in diverse complex tasks and leading to a revolution in human-AI coordination. LLM-powered agents typically require invoking LLM APIs and employing artificially designed complex prompts, which results in high inference latency. While this paradigm works well in scenarios with minimal interactive demands, such as code generation, it is unsuitable for highly interactive and real-time applications, such as gaming. Traditional gaming AI often employs small models or reactive policies, enabling fast inference but offering limited task completion and interaction abilities. In this work, we consider Overcooked as our testbed where players could communicate with natural language and cooperate to serve orders. We propose a Hierarchical Language Agent (HLA) for human-AI coordination that provides both strong reasoning abilities while keeping real-time execution. In particular, HLA adopts a hierarchical framework and comprises three modules: a proficient LLM, referred to as Slow Mind, for intention reasoning and language interaction, a lightweight LLM, referred to as Fast Mind, for generating macro actions, and a reactive policy, referred to as Executor, for transforming macro actions into atomic actions. Human studies show that HLA outperforms other baseline agents, including slow-mind-only agents and fast-mind-only agents, with stronger cooperation abilities, faster responses, and more consistent language communications.