Understanding and following natural language instructions while navigating through complex, real-world environments poses a significant challenge for general-purpose robots. These environments often include obstacles and pedestrians, making it essential for autonomous agents to possess the capability of self-corrected planning to adjust their actions based on feedback from the surroundings. However, the majority of existing vision-and-language navigation (VLN) methods primarily operate in less realistic simulator settings and do not incorporate environmental feedback into their decision-making processes. To address this gap, we introduce a novel zero-shot framework called CorNav, utilizing a large language model for decision-making and comprising two key components: 1) incorporating environmental feedback for refining future plans and adjusting its actions, and 2) multiple domain experts for parsing instructions, scene understanding, and refining predicted actions. In addition to the framework, we develop a 3D simulator that renders realistic scenarios using Unreal Engine 5. To evaluate the effectiveness and generalization of navigation agents in a zero-shot multi-task setting, we create a benchmark called NavBench. Our empirical study involves deploying 7 baselines across four tasks, i.e., goal-conditioned navigation given a specific object category, goal-conditioned navigation given simple instructions, finding abstract objects based on high-level instructions, and step-by-step instruction following. Extensive experiments demonstrate that CorNav consistently outperforms all baselines by a significant margin across all tasks. On average, CorNav achieves a success rate of 28.1%, surpassing the best baseline’s performance of 20.5%.

The proliferation of automatic faithfulness metrics for summarization has produced a need for benchmarks to evaluate them. While existing benchmarks measure the correlation with human judgements of faithfulness on model-generated summaries, they are insufficient for diagnosing whether metrics are: 1) consistent, i.e., indicate lower faithfulness as errors are introduced into a summary, 2) effective on human-written texts, and 3) sensitive to different error types (as summaries can contain multiple errors). To address these needs, we present a benchmark of unfaithful minimal pairs (BUMP), a dataset of 889 human-written, minimally different summary pairs, where a single error is introduced to a summary from the CNN/DailyMail dataset to produce an unfaithful summary. We find BUMP complements existing benchmarks in a number of ways: 1) the summaries in BUMP are harder to discriminate and less probable under SOTA summarization models, 2) unlike non-pair-based datasets, BUMP can be used to measure the consistency of metrics, and reveals that the most discriminative metrics tend not to be the most consistent, and 3) unlike datasets containing generated summaries with multiple errors, BUMP enables the measurement of metrics’ performance on individual error types.

In this paper, we present MuFaSSa (Multi-view Faithfulness Scoring via Source Ablation), a metric for evaluating faithfulness of abstractive summaries, and for guiding training of more faithful summarizers. For evaluation, MuFaSSa employs different strategies (e.g., masking entity mentions) to first remove information from the source document to form multiple ablated views. Then, the faithfulness level of each token in a generated summary is measured by the difference between the token generation probabilities when given the original document and the ablated document as inputs to trained summarizers. For training, MuFaSSa uses a novel word truncation objective that drops unfaithful tokens located by MuFaSSa in both the decoder input and output. Alignments with human-annotated faithfulness labels on AggreFact show that MuFaSSa is comparable to or better than existing metrics built on classifiers or QA models pre-trained on other tasks. In experiments on summarization with XSum and CNN/DailyMail, models trained with word truncation using MuFaSSa outperform competitive methods according to both automatic faithfulness metrics and human assessments.

Recent works show that the graph structure of sentences, generated from dependency parsers, has potential for improving event detection. However, they often only leverage the edges (dependencies) between words, and discard the dependency labels (e.g., nominal-subject), treating the underlying graph edges as homogeneous. In this work, we propose a novel framework for incorporating both dependencies and their labels using a recently proposed technique called Graph Transformer Network (GTN). We integrate GTN to leverage dependency relations on two existing homogeneous-graph-based models and demonstrate an improvement in the F1 score on the ACE dataset.