Daily Papers

Vision-Language-Action (VLA) models are typically trained by imitation learning on large-scale robot demonstration datasets, but more data does not necessarily yield better policies due to redundancy, noise, and uneven coverage. Existing data selection methods often assess demonstrations at either the trajectory or state-action level, missing the reusable structures that compose long-horizon behaviors. In this paper, we propose SIEVE, a structure-aware data selection method for VLA imitation learning. SIEVE views demonstrations as compositions of reusable primitives and transition interfaces. It first discovers visuo-motor primitives from segmented trajectories, then allocates selection budgets to composition patterns by maximizing reuse-aware structural exposure under diminishing returns. Finally, it selects medoid trajectories within each composition-pattern bucket to retain central, stable, and imitation-friendly demonstrations. Experiments across multiple datasets, benchmarks, and VLA models show that SIEVE consistently outperforms competitive data selection baselines. Notably, SIEVE can surpass full-data training while using only 50% of demonstrations and 50% of training steps, suggesting that reusable structure, captured through primitives and transitions, is an important signal for efficient VLA imitation learning.

Medical systematic reviews can be very costly and resource intensive. We explore how Large Language Models (LLMs) can support and be trained to perform literature screening when provided with a detailed set of selection criteria. Specifically, we instruction tune LLaMA and Guanaco models to perform abstract screening for medical systematic reviews. Our best model, Bio-SIEVE, outperforms both ChatGPT and trained traditional approaches, and generalises better across medical domains. However, there remains the challenge of adapting the model to safety-first scenarios. We also explore the impact of multi-task training with Bio-SIEVE-Multi, including tasks such as PICO extraction and exclusion reasoning, but find that it is unable to match single-task Bio-SIEVE's performance. We see Bio-SIEVE as an important step towards specialising LLMs for the biomedical systematic review process and explore its future developmental opportunities. We release our models, code and a list of DOIs to reconstruct our dataset for reproducibility.

Simplicity bias is the concerning tendency of deep networks to over-depend on simple, weakly predictive features, to the exclusion of stronger, more complex features. This is exacerbated in real-world applications by limited training data and spurious feature-label correlations, leading to biased, incorrect predictions. We propose a direct, interventional method for addressing simplicity bias in DNNs, which we call the feature sieve. We aim to automatically identify and suppress easily-computable spurious features in lower layers of the network, thereby allowing the higher network levels to extract and utilize richer, more meaningful representations. We provide concrete evidence of this differential suppression & enhancement of relevant features on both controlled datasets and real-world images, and report substantial gains on many real-world debiasing benchmarks (11.4% relative gain on Imagenet-A; 3.2% on BAR, etc). Crucially, we do not depend on prior knowledge of spurious attributes or features, and in fact outperform many baselines that explicitly incorporate such information. We believe that our feature sieve work opens up exciting new research directions in automated adversarial feature extraction and representation learning for deep networks.

We present final results on the angular power spectrum of total intensity anisotropies in the CMB from the CBI. Our analysis includes all primordial anisotropy data collected between January 2000 and April 2005, and benefits significantly from an improved maximum likelihood analysis pipeline. It also includes results from a 30 GHz foreground survey conducted with the Green Bank Telescope (GBT) which places significant constraints on the possible contamination due to foreground point sources. We improve on previous CBI results by about a factor of two in the damping tail. These data confirm, at ~3-sigma, the existence of an excess of power over intrinsic CMB anisotropy on small angular scales (l > 1800). Using the GBT survey, we find currently known radio source populations are not capable of generating the power; a new population of faint sources with steeply rising spectral indices would be required to explain the excess with sources... We also present a full cosmological parameter analysis of the new CBI power spectrum... With CBI alone, the full parameter analysis finds the excess is 1.6-sigma above the level expected for a sigma_8=0.8 universe. We find the addition of high-l CMB data substantially improves constraints on cosmic string contributions to the TT power spectrum as well as the running of the scalar spectral index... We also present forecasts for what other experiments should see at different frequencies and angular resolutions given the excess power observed by CBI. We find that the reported high-l bandpowers from current high resolution CMB bolometer experiments are consistent with each other and CBI if the excess power is due to the SZE at the CBI-level of 2.5 +/- 1 times the sigma_8=0.8 standard SZ template. <Abridged>

We present a novel multimodal preference dataset for creative tasks, consisting of over 250 million human ratings on more than 2.2 million captions, collected through crowdsourcing rating data for The New Yorker's weekly cartoon caption contest over the past eight years. This unique dataset supports the development and evaluation of multimodal large language models and preference-based fine-tuning algorithms for humorous caption generation. We propose novel benchmarks for judging the quality of model-generated captions, utilizing both GPT4 and human judgments to establish ranking-based evaluation strategies. Our experimental results highlight the limitations of current fine-tuning methods, such as RLHF and DPO, when applied to creative tasks. Furthermore, we demonstrate that even state-of-the-art models like GPT4 and Claude currently underperform top human contestants in generating humorous captions. As we conclude this extensive data collection effort, we release the entire preference dataset to the research community, fostering further advancements in AI humor generation and evaluation.

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to perform this task in a particular environment. We propose to provide real-world grounding by means of pretrained skills, which are used to constrain the model to propose natural language actions that are both feasible and contextually appropriate. The robot can act as the language model's "hands and eyes," while the language model supplies high-level semantic knowledge about the task. We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment. We evaluate our method on a number of real-world robotic tasks, where we show the need for real-world grounding and that this approach is capable of completing long-horizon, abstract, natural language instructions on a mobile manipulator. The project's website and the video can be found at https://say-can.github.io/.

We use new cosmic microwave background (CMB) primary temperature and polarization anisotropy measurements from the Atacama Cosmology Telescope (ACT) Data Release 6 (DR6) to test foundational assumptions of the standard cosmological model and set constraints on extensions to it. We derive constraints from the ACT DR6 power spectra alone, as well as in combination with legacy data from Planck. To break geometric degeneracies, we include ACT and Planck CMB lensing data and baryon acoustic oscillation data from DESI Year-1, and further add supernovae measurements from Pantheon+ for models that affect the late-time expansion history. We verify the near-scale-invariance (running of the spectral index d n_s/dln k = 0.0062 pm 0.0052) and adiabaticity of the primordial perturbations. Neutrino properties are consistent with Standard Model predictions: we find no evidence for new light, relativistic species that are free-streaming (N_{rm eff} = 2.86 pm 0.13, which combined with external BBN data becomes N_{rm eff} = 2.89 pm 0.11), for non-zero neutrino masses (sum m_nu < 0.082 eV at 95% CL), or for neutrino self-interactions. We also find no evidence for self-interacting dark radiation (N_{rm idr} < 0.134), early-universe variation of fundamental constants, early dark energy, primordial magnetic fields, or modified recombination. Our data are consistent with standard BBN, the FIRAS-inferred CMB temperature, a dark matter component that is collisionless and with only a small fraction allowed as axion-like particles, a cosmological constant, and the late-time growth rate predicted by general relativity. We find no statistically significant preference for a departure from the baseline LambdaCDM model. In general, models introduced to increase the Hubble constant or to decrease the amplitude of density fluctuations inferred from the primary CMB are not favored by our data.

Using the full four-year SPTpol 500 deg^2 dataset in both the 95 GHz and 150 GHz frequency bands, we present measurements of the temperature and E-mode polarization of the cosmic microwave background (CMB), as well as the E-mode polarization auto-power spectrum (EE) and temperature-E-mode cross-power spectrum (TE) in the angular multipole range 50<ell<8000. We find the SPTpol dataset to be self-consistent, passing several internal consistency tests based on maps, frequency bands, bandpowers, and cosmological parameters. The full SPTpol dataset is well-fit by the ΛCDM model, for which we find H_0=70.48pm2.16 km s^{-1} Mpc^{-1} and Ω_m=0.271pm0.026, when using only the SPTpol data and a Planck-based prior on the optical depth to reionization. The ΛCDM parameter constraints are consistent across the 95 GHz-only, 150 GHz-only, TE-only, and EE-only data splits. Between the ell<1000 and ell>1000 data splits, the ΛCDM parameter constraints are borderline consistent at the sim2σ level. This consistency improves when including a parameter A_L, the degree of lensing of the CMB inferred from the smearing of acoustic peaks. When marginalized over A_L, the ΛCDM parameter constraints from SPTpol are consistent with those from Planck. The power spectra presented here are the most sensitive measurements of the lensed CMB damping tail to date for roughly ell > 1700 in TE and ell > 2000 in EE.

We present a catalog of 689 galaxy cluster candidates detected at significance ξ>4 via their thermal Sunyaev-Zel'dovich (SZ) effect signature in 95 and 150 GHz data from the 500-square-degree SPTpol survey. We use optical and infrared data from the Dark Energy Camera and the Wide-field Infrared Survey Explorer (WISE) and \spitzer \ satellites, to confirm 544 of these candidates as clusters with sim94% purity. The sample has an approximately redshift-independent mass threshold at redshift z>0.25 and spans 1.5 times 10^{14} < M_{500c} < 9.1 times 10^{14} M_odot/h_{70} \ and 0.03<zlesssim1.6 in mass and redshift, respectively; 21\% of the confirmed clusters are at z>1. We use external radio data from the Sydney University Molonglo Sky Survey (SUMSS) to estimate contamination to the SZ signal from synchrotron sources. The contamination reduces the recovered ξ by a median value of 0.032, or sim0.8% of the ξ=4 threshold value, and sim7% of candidates have a predicted contamination greater than Δξ= 1. With the exception of a small number of systems (<1%), an analysis of clusters detected in single-frequency 95 and 150 GHz data shows no significant contamination of the SZ signal by emission from dusty or synchrotron sources. This cluster sample will be a key component in upcoming astrophysical and cosmological analyses of clusters. The SPTpol millimeter-wave maps and associated data products used to produce this sample are available at https://pole.uchicago.edu/public/data/sptpol_500d_clusters/index.html, and the NASA LAMBDA website. An interactive sky server with the SPTpol maps and Dark Energy Survey data release 2 images is also available at NCSA https://skyviewer.ncsa.illinois.edu.

We describe the observations and resultant galaxy cluster catalog from the 2770 deg^2 SPTpol Extended Cluster Survey (SPT-ECS). Clusters are identified via the Sunyaev-Zel'dovich (SZ) effect, and confirmed with a combination of archival and targeted follow-up data, making particular use of data from the Dark Energy Survey (DES). With incomplete followup we have confirmed as clusters 244 of 266 candidates at a detection significance ξge 5 and an additional 204 systems at 4<ξ<5. The confirmed sample has a median mass of M_{500c} 4.4 times 10^{14 M_odot h_{70}^{-1}}, a median redshift of z=0.49, and we have identified 44 strong gravitational lenses in the sample thus far. Radio data are used to characterize contamination to the SZ signal; the median contamination for confirmed clusters is predicted to be sim1% of the SZ signal at the ξ>4 threshold, and <4% of clusters have a predicted contamination >10% of their measured SZ flux. We associate SZ-selected clusters, from both SPT-ECS and the SPT-SZ survey, with clusters from the DES redMaPPer sample, and find an offset distribution between the SZ center and central galaxy in general agreement with previous work, though with a larger fraction of clusters with significant offsets. Adopting a fixed Planck-like cosmology, we measure the optical richness-to-SZ-mass (λ-M) relation and find it to be 28% shallower than that from a weak-lensing analysis of the DES data---a difference significant at the 4 σ level---with the relations intersecting at λ=60 . The SPT-ECS cluster sample will be particularly useful for studying the evolution of massive clusters and, in combination with DES lensing observations and the SPT-SZ cluster sample, will be an important component of future cosmological analyses.

We present a catalog of galaxy cluster candidates detected in 100 square degrees surveyed with the SPTpol receiver on the South Pole Telescope. The catalog contains 89 candidates detected with a signal-to-noise ratio greater than 4.6. The candidates are selected using the Sunyaev-Zel'dovich effect at 95 and 150 GHz. Using both space- and ground-based optical and infrared telescopes, we have confirmed 81 candidates as galaxy clusters. We use these follow-up images and archival images to estimate photometric redshifts for 66 galaxy clusters and spectroscopic observations to obtain redshifts for 13 systems. An additional 2 galaxy clusters are confirmed using the overdensity of near-infrared galaxies only, and are presented without redshifts. We find that 15 candidates (18% of the total sample) are at redshift of z geq 1.0, with a maximum confirmed redshift of z_{max} = 1.38 pm 0.10. We expect this catalog to contain every galaxy cluster with M_{500c} > 2.6 times 10^{14} M_odot h^{-1}_{70} and z > 0.25 in the survey area. The mass threshold is approximately constant above z = 0.25, and the complete catalog has a median mass of approximately M_{500c} = 2.7 times 10^{14} M_odot h^{-1}_{70}. Compared to previous SPT works, the increased depth of the millimeter-wave data (11.2 and 6.5 μK-arcmin at 95 and 150 GHz, respectively) makes it possible to find more galaxy clusters at high redshift and lower mass.