Daily Papers

We present Semi-Structured Explanations for COPA (COPA-SSE), a new crowdsourced dataset of 9,747 semi-structured, English common sense explanations for Choice of Plausible Alternatives (COPA) questions. The explanations are formatted as a set of triple-like common sense statements with ConceptNet relations but freely written concepts. This semi-structured format strikes a balance between the high quality but low coverage of structured data and the lower quality but high coverage of free-form crowdsourcing. Each explanation also includes a set of human-given quality ratings. With their familiar format, the explanations are geared towards commonsense reasoners operating on knowledge graphs and serve as a starting point for ongoing work on improving such systems. The dataset is available at https://github.com/a-brassard/copa-sse.

We present publicly available COPAL-ID, a novel Indonesian language common sense reasoning dataset. Unlike the previous Indonesian COPA dataset (XCOPA-ID), COPAL-ID incorporates Indonesian local and cultural nuances, and therefore, provides a more natural portrayal of day-to-day causal reasoning within the Indonesian cultural sphere. Professionally written by natives from scratch, COPAL-ID is more fluent and free from awkward phrases, unlike the translated XCOPA-ID. In addition, we present COPAL-ID in both standard Indonesian and in Jakartan Indonesian--a dialect commonly used in daily conversation. COPAL-ID poses a greater challenge for existing open-sourced and closed state-of-the-art multilingual language models, yet is trivially easy for humans. Our findings suggest that even the current best open-source, multilingual model struggles to perform well, achieving 65.47% accuracy on COPAL-ID, significantly lower than on the culturally-devoid XCOPA-ID (79.40%). Despite GPT-4's impressive score, it suffers the same performance degradation compared to its XCOPA-ID score, and it still falls short of human performance. This shows that these language models are still way behind in comprehending the local nuances of Indonesian.

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes to the field of Large Language Models (LLMs) applied to task and motion planning for robots. We propose a system architecture that orchestrates a seamless interplay between multiple cognitive levels, encompassing reasoning, planning, and motion generation. At its core lies a novel replanning strategy that handles physically grounded, logical, and semantic errors in the generated plans. We demonstrate the efficacy of the proposed feedback architecture, particularly its impact on executability, correctness, and time complexity via empirical evaluation in the context of a simulation and two intricate real-world scenarios: blocks world, barman and pizza preparation.