arXiv subjects

Faisal Ladhak

Publications and source records attributed to Faisal Ladhak.

At least 19 recordsLinked to original sources

arXiv2026

VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation

Open-vocabulary long-horizon manipulation requires robots to reason over flexible instructions and complex multi-object scenes while adaptively planning, executing, monitoring, and recovering from failures. We address these demands with a closed agent loop in which a VLM orchestrates heterogeneous robot capabilities as interruptible tools. Unlike in virtual AI agents, the timing of decisions, actions and tool calls is important in a physical world that does not pause for reasoning. We refer to this setting as Physical Orchestration, and propose VoLoAgent, a VLM that plans, monitors, and recovers by treating a VLA/WAM as an interruptible tool it steers mid-rollout alongside vision models and action primitives. To evaluate these long-horizon capabilities, we introduce RoboVoLo, a high-fidelity benchmark for open-vocabulary long-horizon manipulation across common sense, memory/state tracking, complex references, and world knowledge, with both task-level success and failure-mode diagnostics. Experiments show VoLoAgent substantially outperforms single VLA/VLM or tool-based systems, with validation on real-robot experiments. Project page: https://chicychen.github.io/VoLo/

cs.RO↗

arXiv2025

NVIDIA Nemotron 3: Efficient and Open Intelligence

We introduce the Nemotron 3 family of models - Nano, Super, and Ultra. These models deliver strong agentic, reasoning, and conversational capabilities. The Nemotron 3 family uses a Mixture-of-Experts hybrid Mamba-Transformer architecture to provide best-in-class throughput and context lengths of up to 1M tokens. Super and Ultra models are trained with NVFP4 and incorporate LatentMoE, a novel approach that improves model quality. The two larger models also include MTP layers for faster text generation. All Nemotron 3 models are post-trained using multi-environment reinforcement learning enabling reasoning, multi-step tool use, and support granular reasoning budget control. Nano, the smallest model, outperforms comparable models in accuracy while remaining extremely cost-efficient for inference. Super is optimized for collaborative agents and high-volume workloads such as IT ticket automation. Ultra, the largest model, provides state-of-the-art accuracy and reasoning performance. Nano is released together with its technical report and this white paper, while Super and Ultra will follow in the coming months. We will openly release the model weights, pre- and post-training software, recipes, and all data for which we hold redistribution rights.

cs.CL↗

arXiv2025

Nemotron 3 Nano: Open, Efficient Mixture-of-Experts Hybrid Mamba-Transformer Model for Agentic Reasoning

We present Nemotron 3 Nano 30B-A3B, a Mixture-of-Experts hybrid Mamba-Transformer language model. Nemotron 3 Nano was pretrained on 25 trillion text tokens, including more than 3 trillion new unique tokens over Nemotron 2, followed by supervised fine tuning and large-scale RL on diverse environments. Nemotron 3 Nano achieves better accuracy than our previous generation Nemotron 2 Nano while activating less than half of the parameters per forward pass. It achieves up to 3.3x higher inference throughput than similarly-sized open models like GPT-OSS-20B and Qwen3-30B-A3B-Thinking-2507, while also being more accurate on popular benchmarks. Nemotron 3 Nano demonstrates enhanced agentic, reasoning, and chat abilities and supports context lengths up to 1M tokens. We release both our pretrained Nemotron 3 Nano 30B-A3B Base and post-trained Nemotron 3 Nano 30B-A3B checkpoints on Hugging Face.

cs.CL↗

arXiv2025

SpaceTools: Tool-Augmented Spatial Reasoning via Double Interactive RL

Vision Language Models (VLMs) demonstrate strong qualitative visual understanding, but struggle with metrically precise spatial reasoning required for embodied applications. The agentic paradigm promises that VLMs can use a wide variety of tools that could augment these capabilities, such as depth estimators, segmentation models, and pose estimators. Yet it remains an open challenge how to realize this vision without solely relying on handcrafted prompting strategies or enforcing fixed, predefined tool pipelines that limit VLMs' ability to discover optimal tool-use patterns. Reinforcement Learning could overcome this gap, but has so far been limited to reasoning with a single visual tool due to the large search space in multi-tool reasoning. We introduce Double Interactive Reinforcement Learning (DIRL), a two-phase training framework where VLMs learn to coordinate multiple tools through interactive exploration and feedback. In the teaching phase, we combine demonstrations from a single tool specialist trained via interactive RL with traces from a frontier model using all tools. In the exploration phase, the model further refines multi-tool coordination through continued RL. Our model, SpaceTools, with tool-augmented spatial reasoning ability, achieves state-of-the-art performance on spatial understanding benchmarks (RoboSpatial-Home, BLINK, BOP-ASK) and demonstrates reliable real-world manipulation using a 7-DOF robot as a tool. DIRL provides substantial improvements over the vanilla SFT (+12% on RoboSpatial) and RL (+16% on RoboSpatial) baselines. Project page: https://spacetools.github.io/.

cs.CV↗

arXiv2025

Many-Turn Jailbreaking

Current jailbreaking work on large language models (LLMs) aims to elicit unsafe outputs from given prompts. However, it only focuses on single-turn jailbreaking targeting one specific query. On the contrary, the advanced LLMs are designed to handle extremely long contexts and can thus conduct multi-turn conversations. So, we propose exploring multi-turn jailbreaking, in which the jailbroken LLMs are continuously tested on more than the first-turn conversation or a single target query. This is an even more serious threat because 1) it is common for users to continue asking relevant follow-up questions to clarify certain jailbroken details, and 2) it is also possible that the initial round of jailbreaking causes the LLMs to respond to additional irrelevant questions consistently. As the first step (First draft done at June 2024) in exploring multi-turn jailbreaking, we construct a Multi-Turn Jailbreak Benchmark (MTJ-Bench) for benchmarking this setting on a series of open- and closed-source models and provide novel insights into this new safety threat. By revealing this new vulnerability, we aim to call for community efforts to build safer LLMs and pave the way for a more in-depth understanding of jailbreaking LLMs.

cs.CL↗

arXiv2025

SWAN-GPT: An Efficient and Scalable Approach for Long-Context Language Modeling

We present a decoder-only Transformer architecture that robustly generalizes to sequence lengths substantially longer than those seen during training. Our model, SWAN-GPT, interleaves layers without positional encodings (NoPE) and sliding-window attention layers equipped with rotary positional encodings (SWA-RoPE). Experiments demonstrate strong performance on sequence lengths significantly longer than the training length without the need for additional long-context training. This robust length extrapolation is achieved through our novel architecture, enhanced by a straightforward dynamic scaling of attention scores during inference. In addition, SWAN-GPT is more computationally efficient than standard GPT architectures, resulting in cheaper training and higher throughput. Further, we demonstrate that existing pre-trained decoder-only models can be efficiently converted to the SWAN architecture with minimal continued training, enabling longer contexts. Overall, our work presents an effective approach for scaling language models to longer contexts in a robust and efficient manner.

cs.CL↗

arXiv2025

L0-Reasoning Bench: Evaluating Procedural Correctness in Language Models via Simple Program Execution

Complex reasoning tasks often rely on the ability to consistently and accurately apply simple rules across incremental steps, a foundational capability which we term "level-0" reasoning. To systematically evaluate this capability, we introduce L0-Bench, a language model benchmark for testing procedural correctness -- the ability to generate correct reasoning processes, complementing existing benchmarks that primarily focus on outcome correctness. Given synthetic Python functions with simple operations, L0-Bench grades models on their ability to generate step-by-step, error-free execution traces. The synthetic nature of L0-Bench enables systematic and scalable generation of test programs along various axes (e.g., number of trace steps). We evaluate a diverse array of recent closed-source and open-weight models on a baseline test set. All models exhibit degradation as the number of target trace steps increases, while larger models and reasoning-enhanced models better maintain correctness over multiple steps. Additionally, we use L0-Bench to explore test-time scaling along three dimensions: input context length, number of solutions for majority voting, and inference steps. Our results suggest substantial room to improve "level-0" reasoning and potential directions to build more reliable reasoning systems.

cs.PL↗

arXiv2025

STORYSUMM: Evaluating Faithfulness in Story Summarization

Human evaluation has been the gold standard for checking faithfulness in abstractive summarization. However, with a challenging source domain like narrative, multiple annotators can agree a summary is faithful, while missing details that are obvious errors only once pointed out. We therefore introduce a new dataset, STORYSUMM, comprising LLM summaries of short stories with localized faithfulness labels and error explanations. This benchmark is for evaluation methods, testing whether a given method can detect challenging inconsistencies. Using this dataset, we first show that any one human annotation protocol is likely to miss inconsistencies, and we advocate for pursuing a range of methods when establishing ground truth for a summarization dataset. We finally test recent automatic metrics and find that none of them achieve more than 70% balanced accuracy on this task, demonstrating that it is a challenging benchmark for future work in faithfulness evaluation.

cs.AI↗

arXiv2024

Smarter, Better, Faster, Longer: A Modern Bidirectional Encoder for Fast, Memory Efficient, and Long Context Finetuning and Inference

Encoder-only transformer models such as BERT offer a great performance-size tradeoff for retrieval and classification tasks with respect to larger decoder-only models. Despite being the workhorse of numerous production pipelines, there have been limited Pareto improvements to BERT since its release. In this paper, we introduce ModernBERT, bringing modern model optimizations to encoder-only models and representing a major Pareto improvement over older encoders. Trained on 2 trillion tokens with a native 8192 sequence length, ModernBERT models exhibit state-of-the-art results on a large pool of evaluations encompassing diverse classification tasks and both single and multi-vector retrieval on different domains (including code). In addition to strong downstream performance, ModernBERT is also the most speed and memory efficient encoder and is designed for inference on common GPUs.

cs.CL↗

arXiv2024

Incorporating Human Explanations for Robust Hate Speech Detection

Given the black-box nature and complexity of large transformer language models (LM), concerns about generalizability and robustness present ethical implications for domains such as hate speech (HS) detection. Using the content rich Social Bias Frames dataset, containing human-annotated stereotypes, intent, and targeted groups, we develop a three stage analysis to evaluate if LMs faithfully assess hate speech. First, we observe the need for modeling contextually grounded stereotype intents to capture implicit semantic meaning. Next, we design a new task, Stereotype Intent Entailment (SIE), which encourages a model to contextually understand stereotype presence. Finally, through ablation tests and user studies, we find a SIE objective improves content understanding, but challenges remain in modeling implicit intent.

cs.CL↗

arXiv2024

Aligning Large Language Models via Fine-grained Supervision

Pre-trained large-scale language models (LLMs) excel at producing coherent articles, yet their outputs may be untruthful, toxic, or fail to align with user expectations. Current approaches focus on using reinforcement learning with human feedback (RLHF) to improve model alignment, which works by transforming coarse human preferences of LLM outputs into a feedback signal that guides the model learning process. However, because this approach operates on sequence-level feedback, it lacks the precision to identify the exact parts of the output affecting user preferences. To address this gap, we propose a method to enhance LLM alignment through fine-grained token-level supervision. Specifically, we ask annotators to minimally edit less preferred responses within the standard reward modeling dataset to make them more favorable, ensuring changes are made only where necessary while retaining most of the original content. The refined dataset is used to train a token-level reward model, which is then used for training our fine-grained Proximal Policy Optimization (PPO) model. Our experiment results demonstrate that this approach can achieve up to an absolute improvement of $5.1\%$ in LLM performance, in terms of win rate against the reference model, compared with the traditional PPO model.

cs.CL↗

arXiv2024

Evaluating Human-Language Model Interaction

Many real-world applications of language models (LMs), such as writing assistance and code autocomplete, involve human-LM interaction. However, most benchmarks are non-interactive in that a model produces output without human involvement. To evaluate human-LM interaction, we develop a new framework, Human-AI Language-based Interaction Evaluation (HALIE), that defines the components of interactive systems and dimensions to consider when designing evaluation metrics. Compared to standard, non-interactive evaluation, HALIE captures (i) the interactive process, not only the final output; (ii) the first-person subjective experience, not just a third-party assessment; and (iii) notions of preference beyond quality (e.g., enjoyment and ownership). We then design five tasks to cover different forms of interaction: social dialogue, question answering, crossword puzzles, summarization, and metaphor generation. With four state-of-the-art LMs (three variants of OpenAI's GPT-3 and AI21 Labs' Jurassic-1), we find that better non-interactive performance does not always translate to better human-LM interaction. In particular, we highlight three cases where the results from non-interactive and interactive metrics diverge and underscore the importance of human-LM interaction for LM evaluation.

cs.CL↗

arXiv2023

Proving Test Set Contamination in Black Box Language Models

Large language models are trained on vast amounts of internet data, prompting concerns and speculation that they have memorized public benchmarks. Going from speculation to proof of contamination is challenging, as the pretraining data used by proprietary models are often not publicly accessible. We show that it is possible to provide provable guarantees of test set contamination in language models without access to pretraining data or model weights. Our approach leverages the fact that when there is no data contamination, all orderings of an exchangeable benchmark should be equally likely. In contrast, the tendency for language models to memorize example order means that a contaminated language model will find certain canonical orderings to be much more likely than others. Our test flags potential contamination whenever the likelihood of a canonically ordered benchmark dataset is significantly higher than the likelihood after shuffling the examples. We demonstrate that our procedure is sensitive enough to reliably prove test set contamination in challenging situations, including models as small as 1.4 billion parameters, on small test sets of only 1000 examples, and datasets that appear only a few times in the pretraining corpus. Using our test, we audit five popular publicly accessible language models for test set contamination and find little evidence for pervasive contamination.

cs.CL↗

arXiv2023

Holistic Evaluation of Language Models

Language models (LMs) are becoming the foundation for almost all major language technologies, but their capabilities, limitations, and risks are not well understood. We present Holistic Evaluation of Language Models (HELM) to improve the transparency of language models. First, we taxonomize the vast space of potential scenarios (i.e. use cases) and metrics (i.e. desiderata) that are of interest for LMs. Then we select a broad subset based on coverage and feasibility, noting what's missing or underrepresented (e.g. question answering for neglected English dialects, metrics for trustworthiness). Second, we adopt a multi-metric approach: We measure 7 metrics (accuracy, calibration, robustness, fairness, bias, toxicity, and efficiency) for each of 16 core scenarios when possible (87.5% of the time). This ensures metrics beyond accuracy don't fall to the wayside, and that trade-offs are clearly exposed. We also perform 7 targeted evaluations, based on 26 targeted scenarios, to analyze specific aspects (e.g. reasoning, disinformation). Third, we conduct a large-scale evaluation of 30 prominent language models (spanning open, limited-access, and closed models) on all 42 scenarios, 21 of which were not previously used in mainstream LM evaluation. Prior to HELM, models on average were evaluated on just 17.9% of the core HELM scenarios, with some prominent models not sharing a single scenario in common. We improve this to 96.0%: now all 30 models have been densely benchmarked on the same core scenarios and metrics under standardized conditions. Our evaluation surfaces 25 top-level findings. For full transparency, we release all raw model prompts and completions publicly for further analysis, as well as a general modular toolkit. We intend for HELM to be a living benchmark for the community, continuously updated with new scenarios, metrics, and models.

cs.CL↗

arXiv2023

From Sparse to Dense: GPT-4 Summarization with Chain of Density Prompting

Selecting the ``right'' amount of information to include in a summary is a difficult task. A good summary should be detailed and entity-centric without being overly dense and hard to follow. To better understand this tradeoff, we solicit increasingly dense GPT-4 summaries with what we refer to as a ``Chain of Density'' (CoD) prompt. Specifically, GPT-4 generates an initial entity-sparse summary before iteratively incorporating missing salient entities without increasing the length. Summaries generated by CoD are more abstractive, exhibit more fusion, and have less of a lead bias than GPT-4 summaries generated by a vanilla prompt. We conduct a human preference study on 100 CNN DailyMail articles and find that that humans prefer GPT-4 summaries that are more dense than those generated by a vanilla prompt and almost as dense as human written summaries. Qualitative analysis supports the notion that there exists a tradeoff between informativeness and readability. 500 annotated CoD summaries, as well as an extra 5,000 unannotated summaries, are freely available on HuggingFace (https://huggingface.co/datasets/griffin/chain_of_density).

cs.CL↗

arXiv2023

Contrastive Error Attribution for Finetuned Language Models

Recent work has identified noisy and misannotated data as a core cause of hallucinations and unfaithful outputs in Natural Language Generation (NLG) tasks. Consequently, identifying and removing these examples is a key open challenge in creating reliable NLG systems. In this work, we introduce a framework to identify and remove low-quality training instances that lead to undesirable outputs, such as faithfulness errors in text summarization. We show that existing approaches for error tracing, such as gradient-based influence measures, do not perform reliably for detecting faithfulness errors in NLG datasets. We overcome the drawbacks of existing error tracing methods through a new, contrast-based estimate that compares undesired generations to human-corrected outputs. Our proposed method can achieve a mean average precision of 0.93 at detecting known data errors across synthetic tasks with known ground truth, substantially outperforming existing approaches. Using this approach and re-training models on cleaned data leads to a 70% reduction in entity hallucinations on the NYT dataset and a 55% reduction in semantic errors on the E2E dataset.

cs.CL↗

arXiv2023

Easily Accessible Text-to-Image Generation Amplifies Demographic Stereotypes at Large Scale

Machine learning models that convert user-written text descriptions into images are now widely available online and used by millions of users to generate millions of images a day. We investigate the potential for these models to amplify dangerous and complex stereotypes. We find a broad range of ordinary prompts produce stereotypes, including prompts simply mentioning traits, descriptors, occupations, or objects. For example, we find cases of prompting for basic traits or social roles resulting in images reinforcing whiteness as ideal, prompting for occupations resulting in amplification of racial and gender disparities, and prompting for objects resulting in reification of American norms. Stereotypes are present regardless of whether prompts explicitly mention identity and demographic language or avoid such language. Moreover, stereotypes persist despite mitigation strategies; neither user attempts to counter stereotypes by requesting images with specific counter-stereotypes nor institutional attempts to add system ``guardrails'' have prevented the perpetuation of stereotypes. Our analysis justifies concerns regarding the impacts of today's models, presenting striking exemplars, and connecting these findings with deep insights into harms drawn from social scientific and humanist disciplines. This work contributes to the effort to shed light on the uniquely complex biases in language-vision models and demonstrates the ways that the mass deployment of text-to-image generation models results in mass dissemination of stereotypes and resulting harms.

cs.CL↗

arXiv2023

Generating EDU Extracts for Plan-Guided Summary Re-Ranking

Two-step approaches, in which summary candidates are generated-then-reranked to return a single summary, can improve ROUGE scores over the standard single-step approach. Yet, standard decoding methods (i.e., beam search, nucleus sampling, and diverse beam search) produce candidates with redundant, and often low quality, content. In this paper, we design a novel method to generate candidates for re-ranking that addresses these issues. We ground each candidate abstract on its own unique content plan and generate distinct plan-guided abstracts using a model's top beam. More concretely, a standard language model (a BART LM) auto-regressively generates elemental discourse unit (EDU) content plans with an extractive copy mechanism. The top K beams from the content plan generator are then used to guide a separate LM, which produces a single abstractive candidate for each distinct plan. We apply an existing re-ranker (BRIO) to abstractive candidates generated from our method, as well as baseline decoding methods. We show large relevance improvements over previously published methods on widely used single document news article corpora, with ROUGE-2 F1 gains of 0.88, 2.01, and 0.38 on CNN / Dailymail, NYT, and Xsum, respectively. A human evaluation on CNN / DM validates these results. Similarly, on 1k samples from CNN / DM, we show that prompting GPT-3 to follow EDU plans outperforms sampling-based methods by 1.05 ROUGE-2 F1 points. Code to generate and realize plans is available at https://github.com/griff4692/edu-sum.

cs.CL↗