Daily Papers

Adapting instruction to the fine-grained needs of individual students is a powerful application of recent advances in large language models. These generative AI models can create tasks that correspond to students' interests and enact context personalization, enhancing students' interest in learning academic content. However, when there is a teacher in-the-loop creating or modifying tasks with generative AI, it is unclear how efficient this process might be, despite commercial generative AI tools' claims that they will save teachers time. In the present study, we teamed 7 middle school mathematics teachers with ChatGPT to create personalized versions of problems in their curriculum, to correspond to their students' interests. We look at the prompting moves teachers made, their efficiency when creating problems, and the reactions of their 521 7th grade students who received the personalized assignments. We find that having a teacher-in-the-loop results in generative AI-enhanced personalization being enacted at a relatively broad grain size, whereas students tend to prefer a smaller grain size where they receive specific popular culture references that interest them. Teachers spent a lot of effort adjusting popular culture references and addressing issues with the depth or realism of the problems generated, giving higher or lower levels of ownership to the generative AI. Teachers were able to improve in their ability to craft interesting problems in partnership with generative AI, but this process did not appear to become particularly time efficient as teachers learned and reflected on their students' data, iterating their approaches.

Large language models (LLMs) are increasingly adopted in educational technologies for a variety of tasks, from generating instructional materials and assisting with assessment design to tutoring. While prior work has investigated how models can be adapted or optimized for specific tasks, far less is known about how well LLMs perform at interpreting authentic educational scenarios without significant customization. As LLM-based systems become widely adopted by learners and educators in everyday academic contexts, understanding their out-of-the-box capabilities is increasingly important for setting expectations and benchmarking. We compared six LLMs to estimate their baseline performance on a simple but important task: classifying instructional moves in authentic classroom transcripts. We evaluated typical prompting methods: zero-shot, one-shot, and few-shot prompting. We found that while zero-shot performance was moderate, providing comprehensive examples (few-shot prompting) significantly improved performance for state-of-the-art models, with the strongest configuration reaching Cohen's Kappa = 0.58 against expert-coded annotations. At the same time, improvements were neither uniform nor complete: performance varied considerably by instructional move, and higher recall frequently came at the cost of increased false positives. Overall, these findings indicate that foundation models demonstrate meaningful yet limited capacity to interpret instructional discourse, with prompt design helping to surface capability but not eliminating fundamental reliability constraints.

We present gg-bench, a collection of game environments designed to evaluate general reasoning capabilities in language models. Unlike most static benchmarks, gg-bench is a data generating process where new evaluation instances can be generated at will. In particular, gg-bench is synthetically generated by (1) using a large language model (LLM) to generate natural language descriptions of novel games, (2) using the LLM to implement each game in code as a Gym environment, and (3) training reinforcement learning (RL) agents via self-play on the generated games. We evaluate language models by their winrate against these RL agents by prompting models with the game description, current board state, and a list of valid moves, after which models output the moves they wish to take. gg-bench is challenging: state-of-the-art LLMs such as GPT-4o and Claude 3.7 Sonnet achieve winrates of 7-9% on gg-bench using in-context learning, while reasoning models such as o1, o3-mini and DeepSeek-R1 achieve average winrates of 31-36%. We release the generated games, data generation process, and evaluation code in order to support future modeling work and expansion of our benchmark.

Certain statistical models are capable of interpreting input strings as instructions, or prompts, and carry out tasks based on them. Many approaches to prompting and pre-training these models involve the automated generation of these prompts. We call these approaches meta-prompting, or prompting to obtain prompts. We propose a theoretical framework based on category theory to generalize and describe them. This framework is flexible enough to account for LLM stochasticity; and allows us to obtain formal results around task agnosticity and equivalence of various meta-prompting approaches. We experiment with meta-prompting in two active areas of model research: creativity and ideation. We find that user preference favors (p < 0.01) the prompts generated under meta-prompting, as well as their corresponding outputs, over a series of hardcoded baseline prompts that include the original task prompt. Using our framework, we argue that meta-prompting is more effective than basic prompting at generating desirable outputs.

Prompting is used to guide or steer a language model in generating an appropriate response that is consistent with the desired outcome. Chaining is a strategy used to decompose complex tasks into smaller, manageable components. In this study, we utilize prompt chaining for extensive legal document classification tasks, which present difficulties due to their intricate domain-specific language and considerable length. Our approach begins with the creation of a concise summary of the original document, followed by a semantic search for related exemplar texts and their corresponding annotations from a training corpus. Finally, we prompt for a label - based on the task - to assign, by leveraging the in-context learning from the few-shot prompt. We demonstrate that through prompt chaining, we can not only enhance the performance over zero-shot, but also surpass the micro-F1 score achieved by larger models, such as ChatGPT zero-shot, using smaller models.

Recent advancements in prompting techniques for Large Language Models (LLMs) have improved their reasoning, planning, and action abilities. This paper examines these prompting techniques through the lens of model predictive control (MPC). We show that LLMs act as implicit planning cost function minimizers when planning prompts are used. Under our framework we demonstrate that LLM planning performance can be improved further by incorporating real planning cost functions and evaluators.

Prompting language models (LMs) is the main interface for applying them to new tasks. However, for smaller LMs, prompting provides low accuracy compared to gradient-based finetuning. Tree Prompting is an approach to prompting which builds a decision tree of prompts, linking multiple LM calls together to solve a task. At inference time, each call to the LM is determined by efficiently routing the outcome of the previous call using the tree. Experiments on classification datasets show that Tree Prompting improves accuracy over competing methods and is competitive with fine-tuning. We also show that variants of Tree Prompting allow inspection of a model's decision-making process.

Autoregressive Large Language Models have transformed the landscape of Natural Language Processing. Pre-train and prompt paradigm has replaced the conventional approach of pre-training and fine-tuning for many downstream NLP tasks. This shift has been possible largely due to LLMs and innovative prompting techniques. LLMs have shown great promise for a variety of downstream tasks owing to their vast parameters and huge datasets that they are pre-trained on. However, in order to fully realize their potential, their outputs must be guided towards the desired outcomes. Prompting, in which a specific input or instruction is provided to guide the LLMs toward the intended output, has become a tool for achieving this goal. In this paper, we discuss the various prompting techniques that have been applied to fully harness the power of LLMs. We present a taxonomy of existing literature on prompting techniques and provide a concise survey based on this taxonomy. Further, we identify some open problems in the realm of prompting in autoregressive LLMs which could serve as a direction for future research.

Prompting is a mainstream paradigm for adapting large language models to specific natural language processing tasks without modifying internal parameters. Therefore, detailed supplementary knowledge needs to be integrated into external prompts, which inevitably brings extra human efforts and computational burdens for practical applications. As an effective solution to mitigate resource consumption, Efficient Prompting Methods have attracted a wide range of attention. We provide mathematical expressions at a high level to deeply discuss Automatic Prompt Engineering for different prompt components and Prompt Compression in continuous and discrete spaces. Finally, we highlight promising future directions to inspire researchers interested in this field.

Prompting Large Language Models (LLMs), or providing context on the expected model of operation, is an effective way to steer the outputs of such models to satisfy human desiderata after they have been trained. But in rapidly evolving domains, there is often need to fine-tune LLMs to improve either the kind of knowledge in their memory or their abilities to perform open ended reasoning in new domains. When human's learn new concepts, we often do so by linking the new material that we are studying to concepts we have already learned before. To that end, we ask, "can prompting help us teach LLMs how to learn". In this work, we study a novel generalization of instruction tuning, called contextual fine-tuning, to fine-tune LLMs. Our method leverages instructional prompts designed to mimic human cognitive strategies in learning and problem-solving to guide the learning process during training, aiming to improve the model's interpretation and understanding of domain-specific knowledge. We empirically demonstrate that this simple yet effective modification improves the ability of LLMs to be fine-tuned rapidly on new datasets both within the medical and financial domains.

Prompting techniques such as chain-of-thought have established themselves as a popular vehicle for improving the outputs of large language models (LLMs). For code generation, however, their exact mechanics and efficacy are under-explored. We thus investigate the effects of a wide range of prompting strategies with a focus on automatic re-prompting over multiple turns and computational requirements. After systematically decomposing reasoning, instruction, and execution feedback prompts, we conduct an extensive grid search on the competitive programming benchmarks CodeContests and TACO for multiple LLM families and sizes (Llama 3.0 and 3.1, 8B, 70B, 405B, and GPT-4o). Our study reveals strategies that consistently improve performance across all models with small and large sampling budgets. We then show how finetuning with such an optimal configuration allows models to internalize the induced reasoning process and obtain improvements in performance and scalability for multi-turn code generation.

We present Multi-expert Prompting, a novel enhancement of ExpertPrompting (Xu et al., 2023), designed to improve the large language model (LLM) generation. Specifically, it guides an LLM to fulfill an input instruction by simulating multiple experts, aggregating their responses, and selecting the best among individual and aggregated responses. This process is performed in a single chain of thoughts through our seven carefully designed subtasks derived from the Nominal Group Technique (Ven and Delbecq, 1974), a well-established decision-making framework. Our evaluations demonstrate that Multi-expert Prompting significantly outperforms ExpertPrompting and comparable baselines in enhancing the truthfulness, factuality, informativeness, and usefulness of responses while reducing toxicity and hurtfulness. It further achieves state-of-the-art truthfulness by outperforming the best baseline by 8.69% with ChatGPT. Multi-expert Prompting is efficient, explainable, and highly adaptable to diverse scenarios, eliminating the need for manual prompt construction.

Recent advances on instruction fine-tuning have led to the development of various prompting techniques for large language models, such as explicit reasoning steps. However, the success of techniques depends on various parameters, such as the task, language model, and context provided. Finding an effective prompt is, therefore, often a trial-and-error process. Most existing approaches to automatic prompting aim to optimize individual techniques instead of compositions of techniques and their dependence on the input. To fill this gap, we propose an adaptive prompting approach that predicts the optimal prompt composition ad-hoc for a given input. We apply our approach to social bias detection, a highly context-dependent task that requires semantic understanding. We evaluate it with three large language models on three datasets, comparing compositions to individual techniques and other baselines. The results underline the importance of finding an effective prompt composition. Our approach robustly ensures high detection performance, and is best in several settings. Moreover, first experiments on other tasks support its generalizability.

Vision-Language Navigation (VLN) is a challenging task that requires an embodied agent to perform action-level modality alignment, i.e., make instruction-asked actions sequentially in complex visual environments. Most existing VLN agents learn the instruction-path data directly and cannot sufficiently explore action-level alignment knowledge inside the multi-modal inputs. In this paper, we propose modAlity-aligneD Action PrompTs (ADAPT), which provides the VLN agent with action prompts to enable the explicit learning of action-level modality alignment to pursue successful navigation. Specifically, an action prompt is defined as a modality-aligned pair of an image sub-prompt and a text sub-prompt, where the former is a single-view observation and the latter is a phrase like ''walk past the chair''. When starting navigation, the instruction-related action prompt set is retrieved from a pre-built action prompt base and passed through a prompt encoder to obtain the prompt feature. Then the prompt feature is concatenated with the original instruction feature and fed to a multi-layer transformer for action prediction. To collect high-quality action prompts into the prompt base, we use the Contrastive Language-Image Pretraining (CLIP) model which has powerful cross-modality alignment ability. A modality alignment loss and a sequential consistency loss are further introduced to enhance the alignment of the action prompt and enforce the agent to focus on the related prompt sequentially. Experimental results on both R2R and RxR show the superiority of ADAPT over state-of-the-art methods.

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/

Instruction-following is crucial for building AI agents with large language models (LLMs), as these models must adhere strictly to user-provided constraints and guidelines. However, LLMs often fail to follow even simple and clear instructions. To improve instruction-following behavior and prevent undesirable outputs, a deeper understanding of how LLMs' internal states relate to these outcomes is required. Our analysis of LLM internal states reveal a dimension in the input embedding space linked to successful instruction-following. We demonstrate that modifying representations along this dimension improves instruction-following success rates compared to random changes, without compromising response quality. Further investigation reveals that this dimension is more closely related to the phrasing of prompts rather than the inherent difficulty of the task or instructions. This discovery also suggests explanations for why LLMs sometimes fail to follow clear instructions and why prompt engineering is often effective, even when the content remains largely unchanged. This work provides insight into the internal workings of LLMs' instruction-following, paving the way for reliable LLM agents.

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.

We introduce Directional Stimulus Prompting, a novel framework for guiding black-box large language models (LLMs) toward specific desired outputs. Instead of directly adjusting LLMs, our method employs a small tunable policy model (e.g., T5) to generate an auxiliary directional stimulus prompt for each input instance. These directional stimulus prompts act as nuanced, instance-specific hints and clues to guide LLMs in generating desired outcomes, such as including specific keywords in the generated summary. Our approach sidesteps the challenges of direct LLM tuning by optimizing the policy model to explore directional stimulus prompts that align LLMs with desired behaviors. The policy model can be optimized through 1) supervised fine-tuning using labeled data and 2) reinforcement learning from offline or online rewards based on the LLM's output. We assess our method across summarization, dialogue response generation, and chain-of-thought reasoning tasks. Our experiments demonstrate that the framework consistently improves LLMs' (e.g., ChatGPT, Codex, InstructGPT) performance on these supervised tasks using minimal labeled data. Notably, using just 80 dialogues on the MultiWOZ dataset, our approach enhances ChatGPT's performance by an impressive 41.4%, matching or surpassing some fully supervised start-of-the-art models. Additionally, the instance-specific chain-of-thought prompt generated by our approach improves InstructGPT's reasoning accuracy compared to human-crafted or automatically generated prompts. The code and data are publicly available at https://github.com/Leezekun/Directional-Stimulus-Prompting.

We introduce Medal S, a medical segmentation foundation model that supports native-resolution spatial and textual prompts within an end-to-end trainable framework. Unlike text-only methods lacking spatial awareness, Medal S achieves channel-wise alignment between volumetric prompts and text embeddings, mitigating inaccuracies from resolution mismatches. By preserving full 3D context, it efficiently processes multiple native-resolution masks in parallel, enhancing multi-class segmentation performance. A lightweight 3D convolutional module enables precise voxel-space refinement guided by both prompt types, supporting up to 243 classes across CT, MRI, PET, ultrasound, and microscopy modalities in the BiomedSegFM dataset. Medal S offers two prompting modes: a text-only mode, where model predictions serve as spatial prompts for self-refinement without human input, and a hybrid mode, incorporating manual annotations for enhanced flexibility. For 24-class segmentation, parallel spatial prompting reduces inference time by more than 90% compared to sequential prompting. We propose dynamic resampling to address target-patch ratio imbalance, extending SAT and nnU-Net for data augmentation. Furthermore, we develop optimized text preprocessing, a two-stage inference strategy, and post-processing techniques to improve memory efficiency, precision, and inference speed. On the five-modality average on the validation set, Medal S outperforms SAT with a DSC of 75.44 (vs. 69.83), NSD of 77.34 (vs. 71.06), F1 of 38.24 (vs. 24.88), and DSC TP of 65.46 (vs. 46.97). Medal S achieves excellent performance by harmonizing spatial precision with semantic textual guidance, demonstrating superior efficiency and accuracy in multi-class medical segmentation tasks compared to sequential prompt-based approaches. Medal S will be publicly available at https://github.com/yinghemedical/Medal-S.

In this paper, we investigate the effectiveness of state-of-the-art LLM, i.e., GPT-4, with three different prompting engineering techniques (i.e., basic prompting, in-context learning, and task-specific prompting) against 18 fine-tuned LLMs on three typical ASE tasks, i.e., code generation, code summarization, and code translation. Our quantitative analysis of these prompting strategies suggests that prompt engineering GPT-4 cannot necessarily and significantly outperform fine-tuning smaller/older LLMs in all three tasks. For comment generation, GPT-4 with the best prompting strategy (i.e., task-specific prompt) had outperformed the first-ranked fine-tuned model by 8.33% points on average in BLEU. However, for code generation, the first-ranked fine-tuned model outperforms GPT-4 with best prompting by 16.61% and 28.3% points, on average in BLEU. For code translation, GPT-4 and fine-tuned baselines tie as they outperform each other on different translation tasks. To explore the impact of different prompting strategies, we conducted a user study with 27 graduate students and 10 industry practitioners. From our qualitative analysis, we find that the GPT-4 with conversational prompts (i.e., when a human provides feedback and instructions back and forth with a model to achieve best results) showed drastic improvement compared to GPT-4 with automatic prompting strategies. Moreover, we observe that participants tend to request improvements, add more context, or give specific instructions as conversational prompts, which goes beyond typical and generic prompting strategies. Our study suggests that, at its current state, GPT-4 with conversational prompting has great potential for ASE tasks, but fully automated prompt engineering with no human in the loop requires more study and improvement.

The advent of the "pre-train, prompt" paradigm has recently extended its generalization ability and data efficiency to graph representation learning, following its achievements in Natural Language Processing (NLP). Initial graph prompt tuning approaches tailored specialized prompting functions for Graph Neural Network (GNN) models pre-trained with specific strategies, such as edge prediction, thus limiting their applicability. In contrast, another pioneering line of research has explored universal prompting via adding prompts to the input graph's feature space, thereby removing the reliance on specific pre-training strategies. However, the necessity to add feature prompts to all nodes remains an open question. Motivated by findings from prompt tuning research in the NLP domain, which suggest that highly capable pre-trained models need less conditioning signal to achieve desired behaviors, we advocate for strategically incorporating necessary and lightweight feature prompts to certain graph nodes to enhance downstream task performance. This introduces a combinatorial optimization problem, requiring a policy to decide 1) which nodes to prompt and 2) what specific feature prompts to attach. We then address the problem by framing the prompt incorporation process as a sequential decision-making problem and propose our method, RELIEF, which employs Reinforcement Learning (RL) to optimize it. At each step, the RL agent selects a node (discrete action) and determines the prompt content (continuous action), aiming to maximize cumulative performance gain. Extensive experiments on graph and node-level tasks with various pre-training strategies in few-shot scenarios demonstrate that our RELIEF outperforms fine-tuning and other prompt-based approaches in classification performance and data efficiency.

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

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.

In this paper, we present empirical evidence of skills and directed exploration emerging from a simple RL algorithm long before any successful trials are observed. For example, in a manipulation task, the agent is given a single observation of the goal state and learns skills, first for moving its end-effector, then for pushing the block, and finally for picking up and placing the block. These skills emerge before the agent has ever successfully placed the block at the goal location and without the aid of any reward functions, demonstrations, or manually-specified distance metrics. Once the agent has learned to reach the goal state reliably, exploration is reduced. Implementing our method involves a simple modification of prior work and does not require density estimates, ensembles, or any additional hyperparameters. Intuitively, the proposed method seems like it should be terrible at exploration, and we lack a clear theoretical understanding of why it works so effectively, though our experiments provide some hints.

Prompting is the primary way to utilize the multitask capabilities of language models (LMs), but prompts occupy valuable space in the input context window, and repeatedly encoding the same prompt is computationally inefficient. Finetuning and distillation methods allow for specialization of LMs without prompting, but require retraining the model for each task. To avoid this trade-off entirely, we present gisting, which trains an LM to compress prompts into smaller sets of "gist" tokens which can be cached and reused for compute efficiency. Gist models can be trained with no additional cost over standard instruction finetuning by simply modifying Transformer attention masks to encourage prompt compression. On decoder (LLaMA-7B) and encoder-decoder (FLAN-T5-XXL) LMs, gisting enables up to 26x compression of prompts, resulting in up to 40% FLOPs reductions, 4.2% wall time speedups, and storage savings, all with minimal loss in output quality.

This paper presents a study of using large language models (LLMs) in modifying existing code. While LLMs for generating code have been widely studied, their role in code modification remains less understood. Although "prompting" serves as the primary interface for developers to communicate intents to LLMs, constructing effective prompts for code modification introduces challenges different from generation. Prior work suggests that natural language summaries may help scaffold this process, yet such approaches have been validated primarily in narrow domains like SQL rewriting. This study investigates two prompting strategies for LLM-assisted code modification: Direct Instruction Prompting, where developers describe changes explicitly in free-form language, and Summary-Mediated Prompting, where changes are made by editing the generated summaries of the code. We conducted an exploratory study with 15 developers who completed modification tasks using both techniques across multiple scenarios. Our findings suggest that developers followed an iterative workflow: understanding the code, localizing the edit, and validating outputs through execution or semantic reasoning. Each prompting strategy presented trade-offs: direct instruction prompting was more flexible and easier to specify, while summary-mediated prompting supported comprehension, prompt scaffolding, and control. Developers' choice of strategy was shaped by task goals and context, including urgency, maintainability, learning intent, and code familiarity. These findings highlight the need for more usable prompt interactions, including adjustable summary granularity, reliable summary-code traceability, and consistency in generated summaries.

System-prompting is a standard tool for customizing language-model chatbots, enabling them to follow a specific instruction. An implicit assumption in the use of system prompts is that they will be stable, so the chatbot will continue to generate text according to the stipulated instructions for the duration of a conversation. We propose a quantitative benchmark to test this assumption, evaluating instruction stability via self-chats between two instructed chatbots. Testing popular models like LLaMA2-chat-70B and GPT-3.5, we reveal a significant instruction drift within eight rounds of conversations. An empirical and theoretical analysis of this phenomenon suggests the transformer attention mechanism plays a role, due to attention decay over long exchanges. To combat attention decay and instruction drift, we propose a lightweight method called split-softmax, which compares favorably against two strong baselines.

Large language models (LLMs) can perform complex reasoning by generating intermediate reasoning steps. Providing these steps for prompting demonstrations is called chain-of-thought (CoT) prompting. CoT prompting has two major paradigms. One leverages a simple prompt like "Let's think step by step" to facilitate step-by-step thinking before answering a question. The other uses a few manual demonstrations one by one, each composed of a question and a reasoning chain that leads to an answer. The superior performance of the second paradigm hinges on the hand-crafting of task-specific demonstrations one by one. We show that such manual efforts may be eliminated by leveraging LLMs with the "Let's think step by step" prompt to generate reasoning chains for demonstrations one by one, i.e., let's think not just step by step, but also one by one. However, these generated chains often come with mistakes. To mitigate the effect of such mistakes, we find that diversity matters for automatically constructing demonstrations. We propose an automatic CoT prompting method: Auto-CoT. It samples questions with diversity and generates reasoning chains to construct demonstrations. On ten public benchmark reasoning tasks with GPT-3, Auto-CoT consistently matches or exceeds the performance of the CoT paradigm that requires manual designs of demonstrations. Code is available at https://github.com/amazon-research/auto-cot

Enhancing the capability of large language models (LLMs) in reasoning has gained significant attention in recent years. Previous studies have demonstrated the effectiveness of various prompting strategies in aiding LLMs in reasoning (called "reasoning actions"), such as step-by-step thinking, reflecting before answering, solving with programs, and their combinations. However, these approaches often applied static, predefined reasoning actions uniformly to all questions, without considering the specific characteristics of each question or the capability of the task-solving LLM. In this paper, we propose DOTS, an approach enabling LLMs to reason dynamically via optimal reasoning trajectory search, tailored to the specific characteristics of each question and the inherent capability of the task-solving LLM. Our approach involves three key steps: i) defining atomic reasoning action modules that can be composed into various reasoning action trajectories; ii) searching for the optimal action trajectory for each training question through iterative exploration and evaluation for the specific task-solving LLM; and iii) using the collected optimal trajectories to train an LLM to plan for the reasoning trajectories of unseen questions. In particular, we propose two learning paradigms, i.e., fine-tuning an external LLM as a planner to guide the task-solving LLM, or directly fine-tuning the task-solving LLM with an internalized capability for reasoning actions planning. Our experiments across eight reasoning tasks show that our method consistently outperforms static reasoning techniques and the vanilla instruction tuning approach. Further analysis reveals that our method enables LLMs to adjust their computation based on problem complexity, allocating deeper thinking and reasoning to harder problems.

We present a new general learning approach for action recognition, Prompt Learning for Action Recognition (PLAR), which leverages the strengths of prompt learning to guide the learning process. Our approach is designed to predict the action label by helping the models focus on the descriptions or instructions associated with actions in the input videos. Our formulation uses various prompts, including optical flow, large vision models, and learnable prompts to improve the recognition performance. Moreover, we propose a learnable prompt method that learns to dynamically generate prompts from a pool of prompt experts under different inputs. By sharing the same objective, our proposed PLAR can optimize prompts that guide the model's predictions while explicitly learning input-invariant (prompt experts pool) and input-specific (data-dependent) prompt knowledge. We evaluate our approach on datasets consisting of both ground camera videos and aerial videos, and scenes with single-agent and multi-agent actions. In practice, we observe a 3.17-10.2% accuracy improvement on the aerial multi-agent dataset, Okutamam and 0.8-2.6% improvement on the ground camera single-agent dataset, Something Something V2. We plan to release our code on the WWW.

Language agents have demonstrated autonomous decision-making abilities by reasoning with foundation models. Recently, efforts have been made to train language agents for performance improvement, with multi-step reasoning and action trajectories as the training data. However, collecting such trajectories still requires considerable human effort, by either artificial annotation or implementations of diverse prompting frameworks. In this work, we propose A^3T, a framework that enables the Autonomous Annotation of Agent Trajectories in the style of ReAct. The central role is an ActRe prompting agent, which explains the reason for an arbitrary action. When randomly sampling an external action, the ReAct-style agent could query the ActRe agent with the action to obtain its textual rationales. Novel trajectories are then synthesized by prepending the posterior reasoning from ActRe to the sampled action. In this way, the ReAct-style agent executes multiple trajectories for the failed tasks, and selects the successful ones to supplement its failed trajectory for contrastive self-training. Realized by policy gradient methods with binarized rewards, the contrastive self-training with accumulated trajectories facilitates a closed loop for multiple rounds of language agent self-improvement. We conduct experiments using QLoRA fine-tuning with the open-sourced Mistral-7B-Instruct-v0.2. In AlfWorld, the agent trained with A^3T obtains a 1-shot success rate of 96%, and 100% success with 4 iterative rounds. In WebShop, the 1-shot performance of the A^3T agent matches human average, and 4 rounds of iterative refinement lead to the performance approaching human experts. A^3T agents significantly outperform existing techniques, including prompting with GPT-4, advanced agent frameworks, and fully fine-tuned LLMs.

A growing variety of prompt engineering techniques has been proposed for Large Language Models (LLMs), yet systematic evaluation of each technique on individual software engineering (SE) tasks remains underexplored. In this study, we present a systematic evaluation of 14 established prompt techniques across 10 SE tasks using four LLM models. As identified in the prior literature, the selected prompting techniques span six core dimensions (Zero-Shot, Few-Shot, Thought Generation, Ensembling, Self-Criticism, and Decomposition). They are evaluated on tasks such as code generation, bug fixing, and code-oriented question answering, to name a few. Our results show which prompting techniques are most effective for SE tasks requiring complex logic and intensive reasoning versus those that rely more on contextual understanding and example-driven scenarios. We also analyze correlations between the linguistic characteristics of prompts and the factors that contribute to the effectiveness of prompting techniques in enhancing performance on SE tasks. Additionally, we report the time and token consumption for each prompting technique when applied to a specific task and model, offering guidance for practitioners in selecting the optimal prompting technique for their use cases.

Large language model (LLM) prompting is a promising new approach for users to create and customize their own chatbots. However, current methods for steering a chatbot's outputs, such as prompt engineering and fine-tuning, do not support users in converting their natural feedback on the model's outputs to changes in the prompt or model. In this work, we explore how to enable users to interactively refine model outputs through their feedback, by helping them convert their feedback into a set of principles (i.e. a constitution) that dictate the model's behavior. From a formative study, we (1) found that users needed support converting their feedback into principles for the chatbot and (2) classified the different principle types desired by users. Inspired by these findings, we developed ConstitutionMaker, an interactive tool for converting user feedback into principles, to steer LLM-based chatbots. With ConstitutionMaker, users can provide either positive or negative feedback in natural language, select auto-generated feedback, or rewrite the chatbot's response; each mode of feedback automatically generates a principle that is inserted into the chatbot's prompt. In a user study with 14 participants, we compare ConstitutionMaker to an ablated version, where users write their own principles. With ConstitutionMaker, participants felt that their principles could better guide the chatbot, that they could more easily convert their feedback into principles, and that they could write principles more efficiently, with less mental demand. ConstitutionMaker helped users identify ways to improve the chatbot, formulate their intuitive responses to the model into feedback, and convert this feedback into specific and clear principles. Together, these findings inform future tools that support the interactive critiquing of LLM outputs.

When not using reasoning, repeating the input prompt improves performance for popular models (Gemini, GPT, Claude, and Deepseek) without increasing the number of generated tokens or latency.

We explore the ability of large language models (LLMs) to act as speech recognition post-processors that perform rescoring and error correction. Our first focus is on instruction prompting to let LLMs perform these task without fine-tuning, for which we evaluate different prompting schemes, both zero- and few-shot in-context learning, and a novel task activation prompting method that combines causal instructions and demonstration to increase its context windows. Next, we show that rescoring only by in-context learning with frozen LLMs achieves results that are competitive with rescoring by domain-tuned LMs, using a pretrained first-pass recognition system and rescoring output on two out-of-domain tasks (ATIS and WSJ). By combining prompting techniques with fine-tuning we achieve error rates below the N-best oracle level, showcasing the generalization power of the LLMs.

Prompting ChatGPT to achieve complex goals (e.g., creating a customer support chatbot) often demands meticulous prompt engineering, including aspects like fluent writing and chain-of-thought techniques. While emerging prompt optimizers can automatically refine many of these aspects, we argue that clearly conveying customized requirements (e.g., how to handle diverse inputs) remains a human-centric challenge. In this work, we introduce Requirement-Oriented Prompt Engineering (ROPE), a paradigm that focuses human attention on generating clear, complete requirements during prompting. We implement ROPE through an assessment and training suite that provides deliberate practice with LLM-generated feedback. In a study with 30 novices, we show that requirement-focused training doubles novices' prompting performance, significantly outperforming conventional prompt engineering training and prompt optimization. We also demonstrate that high-quality LLM outputs are directly tied to the quality of input requirements. Our work paves the way for more effective task delegation in human-LLM collaborative prompting.

LLMs have shown remarkable capabilities, but precisely controlling their response behavior remains challenging. Existing activation steering methods alter LLM behavior indiscriminately, limiting their practical applicability in settings where selective responses are essential, such as content moderation or domain-specific assistants. In this paper, we propose Conditional Activation Steering (CAST), which analyzes LLM activation patterns during inference to selectively apply or withhold activation steering based on the input context. Our method is based on the observation that different categories of prompts activate distinct patterns in the model's hidden states. Using CAST, one can systematically control LLM behavior with rules like "if input is about hate speech or adult content, then refuse" or "if input is not about legal advice, then refuse." This allows for selective modification of responses to specific content while maintaining normal responses to other content, all without requiring weight optimization. We release an open-source implementation of our framework at github.com/IBM/activation-steering .

Effective planning is essential for the success of any task, from organizing a vacation to routing autonomous vehicles and developing corporate strategies. It involves setting goals, formulating plans, and allocating resources to achieve them. LLMs are particularly well-suited for automated planning due to their strong capabilities in commonsense reasoning. They can deduce a sequence of actions needed to achieve a goal from a given state and identify an effective course of action. However, it is frequently observed that plans generated through direct prompting often fail upon execution. Our survey aims to highlight the existing challenges in planning with language models, focusing on key areas such as embodied environments, optimal scheduling, competitive and cooperative games, task decomposition, reasoning, and planning. Through this study, we explore how LLMs transform AI planning and provide unique insights into the future of LM-assisted planning.

Carefully engineered system prompts play a critical role in guiding the behavior of LLM agents, but their considerable length introduces significant drawbacks, including increased inference latency, higher computational cost, and reduced effective context length. This raises the question of whether such lengthy prompts can be replaced by a drastically reduced number of tokens while preserving their behavioral effect on downstream tasks. To enable this, we propose a lightweight three-stage training framework that learns a single prompt-specific Behavior-Equivalent token ([BE]). The framework first trains [BE] to encode the natural-language content of the original system prompt via reconstruction, and then distills the prompt 's downstream behavior into this single token. Importantly, our method requires no access to model internals, no auxiliary compression models, and no labeled responses. Empirical evaluations on three datasets show that a single [BE] token achieves up to a 3000x reduction in prompt length, while retaining about 98% of the downstream performance of the original system prompts. This substantially reduces inference cost and leaves almost the entire context window available for user inputs.

The reasoning abilities of Large Language Models (LLMs) remain a topic of debate. Some methods such as ReAct-based prompting, have gained popularity for claiming to enhance sequential decision-making abilities of agentic LLMs. However, it is unclear what is the source of improvement in LLM reasoning with ReAct based prompting. In this paper we examine these claims of ReAct based prompting in improving agentic LLMs for sequential decision-making. By introducing systematic variations to the input prompt we perform a sensitivity analysis along the claims of ReAct and find that the performance is minimally influenced by the "interleaving reasoning trace with action execution" or the content of the generated reasoning traces in ReAct, contrary to original claims and common usage. Instead, the performance of LLMs is driven by the similarity between input example tasks and queries, implicitly forcing the prompt designer to provide instance-specific examples which significantly increases the cognitive burden on the human. Our investigation shows that the perceived reasoning abilities of LLMs stem from the exemplar-query similarity and approximate retrieval rather than any inherent reasoning abilities.

Generative Artificial Intelligence (GenAI) systems are being increasingly deployed across all parts of industry and research settings. Developers and end users interact with these systems through the use of prompting or prompt engineering. While prompting is a widespread and highly researched concept, there exists conflicting terminology and a poor ontological understanding of what constitutes a prompt due to the area's nascency. This paper establishes a structured understanding of prompts, by assembling a taxonomy of prompting techniques and analyzing their use. We present a comprehensive vocabulary of 33 vocabulary terms, a taxonomy of 58 text-only prompting techniques, and 40 techniques for other modalities. We further present a meta-analysis of the entire literature on natural language prefix-prompting.

Prompt learning has emerged as an efficient alternative for fine-tuning foundational models, such as CLIP, for various downstream tasks. Conventionally trained using the task-specific objective, i.e., cross-entropy loss, prompts tend to overfit downstream data distributions and find it challenging to capture task-agnostic general features from the frozen CLIP. This leads to the loss of the model's original generalization capability. To address this issue, our work introduces a self-regularization framework for prompting called PromptSRC (Prompting with Self-regulating Constraints). PromptSRC guides the prompts to optimize for both task-specific and task-agnostic general representations using a three-pronged approach by: (a) regulating prompted representations via mutual agreement maximization with the frozen model, (b) regulating with self-ensemble of prompts over the training trajectory to encode their complementary strengths, and (c) regulating with textual diversity to mitigate sample diversity imbalance with the visual branch. To the best of our knowledge, this is the first regularization framework for prompt learning that avoids overfitting by jointly attending to pre-trained model features, the training trajectory during prompting, and the textual diversity. PromptSRC explicitly steers the prompts to learn a representation space that maximizes performance on downstream tasks without compromising CLIP generalization. We perform extensive experiments on 4 benchmarks where PromptSRC overall performs favorably well compared to the existing methods. Our code and pre-trained models are publicly available at: https://github.com/muzairkhattak/PromptSRC.

We present Step-Back Prompting, a simple prompting technique that enables LLMs to do abstractions to derive high-level concepts and first principles from instances containing specific details. Using the concepts and principles to guide the reasoning steps, LLMs significantly improve their abilities in following a correct reasoning path towards the solution. We conduct experiments of Step-Back Prompting with PaLM-2L models and observe substantial performance gains on a wide range of challenging reasoning-intensive tasks including STEM, Knowledge QA, and Multi-Hop Reasoning. For instance, Step-Back Prompting improves PaLM-2L performance on MMLU Physics and Chemistry by 7% and 11%, TimeQA by 27%, and MuSiQue by 7%.

Large language models (LLMs) transfer well to new tasks out-of-the-box simply given a natural language prompt that demonstrates how to perform the task and no additional training. Prompting is a brittle process wherein small modifications to the prompt can cause large variations in the model predictions, and therefore significant effort is dedicated towards designing a painstakingly "perfect prompt" for a task. To mitigate the high degree of effort involved in prompt-design, we instead ask whether producing multiple effective, yet imperfect, prompts and aggregating them can lead to a high quality prompting strategy. Our observations motivate our proposed prompting method, ASK ME ANYTHING (AMA). We first develop an understanding of the effective prompt formats, finding that question-answering (QA) prompts, which encourage open-ended generation ("Who went to the park?") tend to outperform those that restrict the model outputs ("John went to the park. Output True or False."). Our approach recursively uses the LLM itself to transform task inputs to the effective QA format. We apply the collected prompts to obtain several noisy votes for the input's true label. We find that the prompts can have very different accuracies and complex dependencies and thus propose to use weak supervision, a procedure for combining the noisy predictions, to produce the final predictions for the inputs. We evaluate AMA across open-source model families (e.g., EleutherAI, BLOOM, OPT, and T0) and model sizes (125M-175B parameters), demonstrating an average performance lift of 10.2% over the few-shot baseline. This simple strategy enables the open-source GPT-J-6B model to match and exceed the performance of few-shot GPT3-175B on 15 of 20 popular benchmarks. Averaged across these tasks, the GPT-J-6B model outperforms few-shot GPT3-175B. We release our code here: https://github.com/HazyResearch/ama_prompting

Prompting has recently been shown as a promising approach for applying pre-trained language models to perform downstream tasks. We present Multi-Stage Prompting (MSP), a simple and automatic approach for leveraging pre-trained language models to translation tasks. To better mitigate the discrepancy between pre-training and translation, MSP divides the translation process via pre-trained language models into multiple separate stages: the encoding stage, the re-encoding stage, and the decoding stage. During each stage, we independently apply different continuous prompts for allowing pre-trained language models better shift to translation tasks. We conduct extensive experiments on three translation tasks. Experiments show that our method can significantly improve the translation performance of pre-trained language models.

Our goal is to synthesize 3D human motions given textual inputs describing simultaneous actions, for example 'waving hand' while 'walking' at the same time. We refer to generating such simultaneous movements as performing 'spatial compositions'. In contrast to temporal compositions that seek to transition from one action to another, spatial compositing requires understanding which body parts are involved in which action, to be able to move them simultaneously. Motivated by the observation that the correspondence between actions and body parts is encoded in powerful language models, we extract this knowledge by prompting GPT-3 with text such as "what are the body parts involved in the action <action name>?", while also providing the parts list and few-shot examples. Given this action-part mapping, we combine body parts from two motions together and establish the first automated method to spatially compose two actions. However, training data with compositional actions is always limited by the combinatorics. Hence, we further create synthetic data with this approach, and use it to train a new state-of-the-art text-to-motion generation model, called SINC ("SImultaneous actioN Compositions for 3D human motions"). In our experiments, that training with such GPT-guided synthetic data improves spatial composition generation over baselines. Our code is publicly available at https://sinc.is.tue.mpg.de/.

Prompt engineering is crucial for deploying LLMs but is poorly understood mathematically. We formalize LLM systems as a class of discrete stochastic dynamical systems to explore prompt engineering through the lens of control theory. We investigate the reachable set of output token sequences R_y(mathbf x_0) for which there exists a control input sequence mathbf u for each mathbf y in R_y(mathbf x_0) that steers the LLM to output mathbf y from initial state sequence mathbf x_0. We offer analytic analysis on the limitations on the controllability of self-attention in terms of reachable set, where we prove an upper bound on the reachable set of outputs R_y(mathbf x_0) as a function of the singular values of the parameter matrices. We present complementary empirical analysis on the controllability of a panel of LLMs, including Falcon-7b, Llama-7b, and Falcon-40b. Our results demonstrate a lower bound on the reachable set of outputs R_y(mathbf x_0) w.r.t. initial state sequences mathbf x_0 sampled from the Wikitext dataset. We find that the correct next Wikitext token following sequence mathbf x_0 is reachable over 97% of the time with prompts of kleq 10 tokens. We also establish that the top 75 most likely next tokens, as estimated by the LLM itself, are reachable at least 85% of the time with prompts of kleq 10 tokens. Intriguingly, short prompt sequences can dramatically alter the likelihood of specific outputs, even making the least likely tokens become the most likely ones. This control-centric analysis of LLMs demonstrates the significant and poorly understood role of input sequences in steering output probabilities, offering a foundational perspective for enhancing language model system capabilities.

Despite recent advances in image-to-video generation, better controllability and local animation are less explored. Most existing image-to-video methods are not locally aware and tend to move the entire scene. However, human artists may need to control the movement of different objects or regions. Additionally, current I2V methods require users not only to describe the target motion but also to provide redundant detailed descriptions of frame contents. These two issues hinder the practical utilization of current I2V tools. In this paper, we propose a practical framework, named Follow-Your-Click, to achieve image animation with a simple user click (for specifying what to move) and a short motion prompt (for specifying how to move). Technically, we propose the first-frame masking strategy, which significantly improves the video generation quality, and a motion-augmented module equipped with a short motion prompt dataset to improve the short prompt following abilities of our model. To further control the motion speed, we propose flow-based motion magnitude control to control the speed of target movement more precisely. Our framework has simpler yet precise user control and better generation performance than previous methods. Extensive experiments compared with 7 baselines, including both commercial tools and research methods on 8 metrics, suggest the superiority of our approach. Project Page: https://follow-your-click.github.io/

Research on prompting has shown excellent performance with little or even no supervised training across many tasks. However, prompting for machine translation is still under-explored in the literature. We fill this gap by offering a systematic study on prompting strategies for translation, examining various factors for prompt template and demonstration example selection. We further explore the use of monolingual data and the feasibility of cross-lingual, cross-domain, and sentence-to-document transfer learning in prompting. Extensive experiments with GLM-130B (Zeng et al., 2022) as the testbed show that 1) the number and the quality of prompt examples matter, where using suboptimal examples degenerates translation; 2) several features of prompt examples, such as semantic similarity, show significant Spearman correlation with their prompting performance; yet, none of the correlations are strong enough; 3) using pseudo parallel prompt examples constructed from monolingual data via zero-shot prompting could improve translation; and 4) improved performance is achievable by transferring knowledge from prompt examples selected in other settings. We finally provide an analysis on the model outputs and discuss several problems that prompting still suffers from.

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a limitation of imitation learning under train-test shifts, where action generation is tightly coupled to training-specific spatial configurations and task specifications. Retraining or fine-tuning to address these failures is costly and conceptually misaligned, as the required behaviors already exist but cannot be selectively adapted at test time. We propose Vision-Language Steering (VLS), a training-free framework for inference-time adaptation of frozen generative robot policies. VLS treats adaptation as an inference-time control problem, steering the sampling process of a pretrained diffusion or flow-matching policy in response to out-of-distribution observation-language inputs without modifying policy parameters. By leveraging vision-language models to synthesize trajectory-differentiable reward functions, VLS guides denoising toward action trajectories that satisfy test-time spatial and task requirements. Across simulation and real-world evaluations, VLS consistently outperforms prior steering methods, achieving a 31% improvement on CALVIN and a 13% gain on LIBERO-PRO. Real-world deployment on a Franka robot further demonstrates robust inference-time adaptation under test-time spatial and semantic shifts. Project page: https://vision-language-steering.github.io/webpage/

A central piece in enabling intelligent agentic behavior in foundation models is to make them capable of introspecting upon their behavior, reasoning, and correcting their mistakes as more computation or interaction is available. Even the strongest proprietary large language models (LLMs) do not quite exhibit the ability of continually improving their responses sequentially, even in scenarios where they are explicitly told that they are making a mistake. In this paper, we develop RISE: Recursive IntroSpEction, an approach for fine-tuning LLMs to introduce this capability, despite prior work hypothesizing that this capability may not be possible to attain. Our approach prescribes an iterative fine-tuning procedure, which attempts to teach the model how to alter its response after having executed previously unsuccessful attempts to solve a hard test-time problem, with optionally additional environment feedback. RISE poses fine-tuning for a single-turn prompt as solving a multi-turn Markov decision process (MDP), where the initial state is the prompt. Inspired by principles in online imitation learning and reinforcement learning, we propose strategies for multi-turn data collection and training so as to imbue an LLM with the capability to recursively detect and correct its previous mistakes in subsequent iterations. Our experiments show that RISE enables Llama2, Llama3, and Mistral models to improve themselves with more turns on math reasoning tasks, outperforming several single-turn strategies given an equal amount of inference-time computation. We also find that RISE scales well, often attaining larger benefits with more capable models. Our analysis shows that RISE makes meaningful improvements to responses to arrive at the correct solution for challenging prompts, without disrupting one-turn abilities as a result of expressing more complex distributions.

Large language models (LLMs) have scaled up to unlock a wide range of complex reasoning tasks with the aid of various prompting methods. However, current prompting methods generate natural language intermediate steps to help reasoning, which can cause imperfect task reduction and confusion. To mitigate such limitations, we explore code prompting, a neural symbolic prompting method with both zero-shot and few-shot versions which triggers code as intermediate steps. We conduct experiments on 7 widely-used benchmarks involving symbolic reasoning and arithmetic reasoning. Code prompting generally outperforms chain-of-thought (CoT) prompting. To further understand the performance and limitations of code prompting, we perform extensive ablation studies and error analyses, and identify several exclusive advantages of using symbolic promptings compared to natural language. We also consider the ensemble of code prompting and CoT prompting to combine the strengths of both. Finally, we show through experiments how code annotations and their locations affect code prompting.

Prompting and fine-tuning have emerged as two competing paradigms for augmenting language models with new capabilities, such as the use of tools. Prompting approaches are quick to set up but rely on providing explicit demonstrations of each tool's usage in the model's prompt, thus coupling tool use to the task at hand and limiting generalisation. Fine-tuning removes the need for task-specific demonstrations of tool usage at runtime; however, this ties new capabilities to a single model, thus making already-heavier setup costs a recurring expense. In this paper, we introduce language hooks, a novel framework for augmenting language models with new capabilities that is decoupled both from the model's task-specific prompt and from the model itself. The language hook algorithm interleaves text generation by the base model with the execution of modular programs that trigger conditionally based on the existing text and the available capabilities. Upon triggering, programs may call external tools, auxiliary language models (e.g. using tool specific prompts), and modify the existing context. We benchmark our method against state-of-the-art baselines, find that it outperforms task-aware approaches, and demonstrate its ability to generalise to novel tasks.

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.

We introduce an approach for augmenting text-to-video generation models with customized motions, extending their capabilities beyond the motions depicted in the original training data. By leveraging a few video samples demonstrating specific movements as input, our method learns and generalizes the input motion patterns for diverse, text-specified scenarios. Our contributions are threefold. First, to achieve our results, we finetune an existing text-to-video model to learn a novel mapping between the depicted motion in the input examples to a new unique token. To avoid overfitting to the new custom motion, we introduce an approach for regularization over videos. Second, by leveraging the motion priors in a pretrained model, our method can produce novel videos featuring multiple people doing the custom motion, and can invoke the motion in combination with other motions. Furthermore, our approach extends to the multimodal customization of motion and appearance of individualized subjects, enabling the generation of videos featuring unique characters and distinct motions. Third, to validate our method, we introduce an approach for quantitatively evaluating the learned custom motion and perform a systematic ablation study. We show that our method significantly outperforms prior appearance-based customization approaches when extended to the motion customization task.

Recently, text-to-motion models have opened new possibilities for creating realistic human motion with greater efficiency and flexibility. However, aligning motion generation with event-level textual descriptions presents unique challenges due to the complex relationship between textual prompts and desired motion outcomes. To address this, we introduce AToM, a framework that enhances the alignment between generated motion and text prompts by leveraging reward from GPT-4Vision. AToM comprises three main stages: Firstly, we construct a dataset MotionPrefer that pairs three types of event-level textual prompts with generated motions, which cover the integrity, temporal relationship and frequency of motion. Secondly, we design a paradigm that utilizes GPT-4Vision for detailed motion annotation, including visual data formatting, task-specific instructions and scoring rules for each sub-task. Finally, we fine-tune an existing text-to-motion model using reinforcement learning guided by this paradigm. Experimental results demonstrate that AToM significantly improves the event-level alignment quality of text-to-motion generation.

Reinforcement learning (RL) is a framework for solving sequential decision-making problems. In this work, we demonstrate that, surprisingly, RL emerges during the inference time of large language models (LLMs), a phenomenon we term in-context RL (ICRL). To reveal this capability, we introduce a simple multi-round prompting framework, we call ICRL prompting, for inference-time self-improvement. The goal of ICRL prompting is to guide LLMs to perform reinforcement learning during inference for self-improvement on a given task. After each response, the model receives numerical scalar feedback, denoted as a reward. In the next round, we prompt the LLM again together with a context that concatenates all prior responses and their associated rewards. We consistently observe that response quality improves as the context grows. In other words, the LLM can optimize scalar reward signals during inference, exhibiting behavior analogous to reinforcement learning. We evaluate ICRL prompting on Game of 24, creative writing, ScienceWorld, and Olympiad-level math competitions (AIME and HMMT), demonstrating significant improvements over baselines such as Self-Refine and Reflexion. Notably, even when the reward signals are generated by the same LLM, ICRL prompting still improves performance, highlighting a promising new paradigm for test-time scaling.

Chain-of-Thought (CoT) Prompting is a dominant paradigm in Large Language Models (LLMs) to enhance complex reasoning. It guides LLMs to present multi-step reasoning, rather than generating the final answer directly. However, CoT encounters difficulties when key information required for reasoning is implicit or missing. This occurs because CoT emphasizes the sequence of reasoning steps while overlooking the early extraction of essential information. We propose a pre-prompting method called Iterative Summarization Pre-Prompting (ISP^2) to refine LLM reasoning when key information is not explicitly provided. First, entities and their corresponding descriptions are extracted to form potential key information pairs. Next, we use a reliability rating to assess these pairs, then merge the two lowest-ranked pairs into a new entity description. This process is repeated until a unique key information pair is obtained. Finally, that pair, along with the original question, is fed into LLMs to produce the answer. Extensive experiments demonstrate a 7.1% improvement compared to existing methods. Unlike traditional prompting, ISP^2 adopts an inductive approach with pre-prompting, offering flexible integration into diverse reasoning frameworks. The code is available at https://github.com/zdhgreat/ISP-2.

While large language models demonstrate impressive performance on static benchmarks, the true potential of large language models as self-learning and reasoning agents in dynamic environments remains unclear. This study systematically evaluates the efficacy of self-reflection, heuristic mutation, and planning as prompting techniques to test the adaptive capabilities of agents. We conduct experiments with various open-source language models in dynamic environments and find that larger models generally outperform smaller ones, but that strategic prompting can close this performance gap. Second, a too-long prompt can negatively impact smaller models on basic reactive tasks, while larger models show more robust behaviour. Third, advanced prompting techniques primarily benefit smaller models on complex games, but offer less improvement for already high-performing large language models. Yet, we find that advanced reasoning methods yield highly variable outcomes: while capable of significantly improving performance when reasoning and decision-making align, they also introduce instability and can lead to big performance drops. Compared to human performance, our findings reveal little evidence of true emergent reasoning. Instead, large language model performance exhibits persistent limitations in crucial areas such as planning, reasoning, and spatial coordination, suggesting that current-generation large language models still suffer fundamental shortcomings that may not be fully overcome through self-reflective prompting alone. Reasoning is a multi-faceted task, and while reasoning methods like Chain of thought improves multi-step reasoning on math word problems, our findings using dynamic benchmarks highlight important shortcomings in general reasoning capabilities, indicating a need to move beyond static benchmarks to capture the complexity of reasoning.

Large language models (LLMs) have demonstrated remarkable performance across various real-world tasks. However, they often struggle to fully comprehend and effectively utilize their input contexts, resulting in responses that are unfaithful or hallucinated. This difficulty increases for contexts that are long or contain distracting information, which can divert LLMs from fully capturing essential evidence. To address this issue, many works use prompting to help LLMs utilize contextual information more faithfully. For instance, iterative prompting highlights key information in two steps that first ask the LLM to identify important pieces of context and then derive answers accordingly. However, prompting methods are constrained to highlighting key information implicitly in token space, which is often insufficient to fully steer the model's attention. To improve model faithfulness more reliably, we propose AutoPASTA, a method that automatically identifies key contextual information and explicitly highlights it by steering an LLM's attention scores. Like prompting, AutoPASTA is applied at inference time and does not require changing any model parameters. Our experiments on open-book QA demonstrate that AutoPASTA effectively enables models to grasp essential contextual information, leading to substantially improved model faithfulness and performance, e.g., an average improvement of 7.95% for LLAMA3-70B-Instruct. Code will be publicly available at https://github.com/QingruZhang/AutoPASTA .

Chain-of-Thought (CoT) prompting reveals that large language models are capable of performing complex reasoning via intermediate steps. CoT prompting is primarily categorized into three approaches. The first approach utilizes straightforward prompts like ``Let's think step by step'' to generate a sequential thought process before yielding an answer. The second approach makes use of human-crafted, step-by-step demonstrations to guide the model's reasoning process. The third automates the generation of reasoned demonstrations with the 'Let's think step by step'.This approach sometimes leads to reasoning errors, highlighting the need to diversify demonstrations to mitigate its misleading effects. However, diverse demonstrations pose challenges for effective representations. In this work, we propose ECHO, a self-harmonized chain-of-thought prompting method. It consolidates diverse solution paths into a uniform and effective solution pattern.ECHO demonstrates the best overall performance across three reasoning domains.

We propose a novel prompt design paradigm that challenges conventional wisdom in large language model (LLM) prompting. While conventional wisdom prioritizes well-crafted instructions and demonstrations for in-context learning (ICL), we show that pruning random demonstrations into seemingly incoherent "gibberish" can remarkably improve performance across diverse tasks. Notably, the "gibberish" always matches or surpasses state-of-the-art automatic prompt optimization techniques, achieving substantial gains regardless of LLM alignment. Nevertheless, discovering an effective pruning strategy is non-trivial, as existing attribution methods and prompt compression algorithms fail to deliver robust results, let alone human intuition. In terms of this, we propose a self-discover prompt optimization framework, PromptQuine, an evolutionary search framework that automatically searches for the pruning strategy by itself using only low-data regimes. Much like the emergent complexity in nature--such as symbiosis and self-organization--arising in response to resource constraints, our framework evolves and refines unconventional yet highly effective prompts by leveraging only the tokens present within the context. We demonstrate its effectiveness across classification, multi-choice question answering, generation and math reasoning tasks across LLMs, while achieving decent runtime efficiency. We hope our findings can guide mechanistic studies on in-context learning, and provide a call to action, to pave the way for more open-ended search algorithms for more effective LLM prompting.

We investigate the generalization capabilities of small language models under two popular adaptation paradigms: few-shot prompting and supervised fine-tuning. While prompting is often favored for its parameter efficiency and flexibility, it remains unclear how robust this approach is in low-resource settings and under distributional shifts. This paper presents a comparative study of prompting and fine-tuning across task formats, prompt styles, and model scales, with a focus on their behavior in both in-distribution and out-of-distribution (OOD) settings. Beyond accuracy, we analyze the internal representations learned by each approach to assess the stability and abstraction of task-specific features. Our findings highlight critical differences in how small models internalize and generalize knowledge under different adaptation strategies. This work offers practical guidance for model selection in low-data regimes and contributes empirical insight into the ongoing debate over prompting versus fine-tuning. Code for the experiments is available at the following

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping can help displace objects to make pushing movements more precise and collision-free. In this work, we demonstrate that it is possible to discover and learn these synergies from scratch through model-free deep reinforcement learning. Our method involves training two fully convolutional networks that map from visual observations to actions: one infers the utility of pushes for a dense pixel-wise sampling of end effector orientations and locations, while the other does the same for grasping. Both networks are trained jointly in a Q-learning framework and are entirely self-supervised by trial and error, where rewards are provided from successful grasps. In this way, our policy learns pushing motions that enable future grasps, while learning grasps that can leverage past pushes. During picking experiments in both simulation and real-world scenarios, we find that our system quickly learns complex behaviors amid challenging cases of clutter, and achieves better grasping success rates and picking efficiencies than baseline alternatives after only a few hours of training. We further demonstrate that our method is capable of generalizing to novel objects. Qualitative results (videos), code, pre-trained models, and simulation environments are available at http://vpg.cs.princeton.edu

Spatio-temporal action detection encompasses the tasks of localizing and classifying individual actions within a video. Recent works aim to enhance this process by incorporating interaction modeling, which captures the relationship between people and their surrounding context. However, these approaches have primarily focused on fully-supervised learning, and the current limitation lies in the lack of generalization capability to recognize unseen action categories. In this paper, we aim to adapt the pretrained image-language models to detect unseen actions. To this end, we propose a method which can effectively leverage the rich knowledge of visual-language models to perform Person-Context Interaction. Meanwhile, our Context Prompting module will utilize contextual information to prompt labels, thereby enhancing the generation of more representative text features. Moreover, to address the challenge of recognizing distinct actions by multiple people at the same timestamp, we design the Interest Token Spotting mechanism which employs pretrained visual knowledge to find each person's interest context tokens, and then these tokens will be used for prompting to generate text features tailored to each individual. To evaluate the ability to detect unseen actions, we propose a comprehensive benchmark on J-HMDB, UCF101-24, and AVA datasets. The experiments show that our method achieves superior results compared to previous approaches and can be further extended to multi-action videos, bringing it closer to real-world applications. The code and data can be found in https://webber2933.github.io/ST-CLIP-project-page.

Prompt engineering is critical for the development of LLM-based applications. However, it is usually done manually in a "trial and error" fashion. This manual procedure can be time consuming, ineffective, and the generated prompts are, in a lot of cases, sub-optimal. Even for the prompts which seemingly work well, there is always a lingering question: can the prompts be made better with further modifications? To address these questions, in this paper, we investigate prompt engineering automation. We consider a specific use case scenario in which developers/users have drafted initial prompts, but lack the time/expertise to optimize them. We propose PRewrite, an automated tool to rewrite these drafts and to generate highly effective new prompts. PRewrite is based on the Reinforcement Learning (RL) framework which allows for end-to-end optimization and our design allows the RL search to happen in a large action space. The automated tool leverages manually crafted prompts as starting points which makes the rewriting procedure more guided and efficient. The generated prompts are human readable, and self-explanatory, unlike some of those in previous works. We conducted extensive experiments on diverse datasets and found that the prompts generated with this new method not only outperform professionally crafted prompts, but also prompts generated with other previously proposed methods.

We introduce a novel task within the field of 3D dance generation, termed dance accompaniment, which necessitates the generation of responsive movements from a dance partner, the "follower", synchronized with the lead dancer's movements and the underlying musical rhythm. Unlike existing solo or group dance generation tasks, a duet dance scenario entails a heightened degree of interaction between the two participants, requiring delicate coordination in both pose and position. To support this task, we first build a large-scale and diverse duet interactive dance dataset, DD100, by recording about 117 minutes of professional dancers' performances. To address the challenges inherent in this task, we propose a GPT-based model, Duolando, which autoregressively predicts the subsequent tokenized motion conditioned on the coordinated information of the music, the leader's and the follower's movements. To further enhance the GPT's capabilities of generating stable results on unseen conditions (music and leader motions), we devise an off-policy reinforcement learning strategy that allows the model to explore viable trajectories from out-of-distribution samplings, guided by human-defined rewards. Based on the collected dataset and proposed method, we establish a benchmark with several carefully designed metrics.

Human motion generation from text prompts has made remarkable progress in recent years. However, existing methods primarily rely on either sequence-level or action-level descriptions due to the absence of fine-grained, part-level motion annotations. This limits their controllability over individual body parts. In this work, we construct a high-quality motion dataset with atomic, temporally-aware part-level text annotations, leveraging the reasoning capabilities of large language models (LLMs). Unlike prior datasets that either provide synchronized part captions with fixed time segments or rely solely on global sequence labels, our dataset captures asynchronous and semantically distinct part movements at fine temporal resolution. Based on this dataset, we introduce a diffusion-based part-aware motion generation framework, namely FrankenMotion, where each body part is guided by its own temporally-structured textual prompt. This is, to our knowledge, the first work to provide atomic, temporally-aware part-level motion annotations and have a model that allows motion generation with both spatial (body part) and temporal (atomic action) control. Experiments demonstrate that FrankenMotion outperforms all previous baseline models adapted and retrained for our setting, and our model can compose motions unseen during training. Our code and dataset will be publicly available upon publication.

We introduce Contrastive Activation Addition (CAA), an innovative method for steering language models by modifying activations during their forward passes. CAA computes ``steering vectors'' by averaging the difference in residual stream activations between pairs of positive and negative examples of a particular behavior such as factual versus hallucinatory responses. During inference, these steering vectors are added at all token positions after the user's prompt with either a positive or negative coefficient, allowing precise control over the degree of the targeted behavior. We evaluate CAA's effectiveness on Llama 2 Chat using both multiple-choice behavioral question datasets and open-ended generation tasks. We demonstrate that CAA significantly alters model behavior, outperforms traditional methods like finetuning and few-shot prompting, and minimally reduces capabilities. Moreover, by employing various activation space interpretation methods, we gain deeper insights into CAA's mechanisms. CAA both accurately steers model outputs and also sheds light on how high-level concepts are represented in Large Language Models (LLMs).

In classic instruction following, language like "I'd like the JetBlue flight" maps to actions (e.g., selecting that flight). However, language also conveys information about a user's underlying reward function (e.g., a general preference for JetBlue), which can allow a model to carry out desirable actions in new contexts. We present a model that infers rewards from language pragmatically: reasoning about how speakers choose utterances not only to elicit desired actions, but also to reveal information about their preferences. On a new interactive flight-booking task with natural language, our model more accurately infers rewards and predicts optimal actions in unseen environments, in comparison to past work that first maps language to actions (instruction following) and then maps actions to rewards (inverse reinforcement learning).

Prompt engineering has emerged as an indispensable technique for extending the capabilities of large language models (LLMs) and vision-language models (VLMs). This approach leverages task-specific instructions, known as prompts, to enhance model efficacy without modifying the core model parameters. Rather than updating the model parameters, prompts allow seamless integration of pre-trained models into downstream tasks by eliciting desired model behaviors solely based on the given prompt. Prompts can be natural language instructions that provide context to guide the model or learned vector representations that activate relevant knowledge. This burgeoning field has enabled success across various applications, from question-answering to commonsense reasoning. However, there remains a lack of systematic organization and understanding of the diverse prompt engineering methods and techniques. This survey paper addresses the gap by providing a structured overview of recent advancements in prompt engineering, categorized by application area. For each prompting approach, we provide a summary detailing the prompting methodology, its applications, the models involved, and the datasets utilized. We also delve into the strengths and limitations of each approach and include a taxonomy diagram and table summarizing datasets, models, and critical points of each prompting technique. This systematic analysis enables a better understanding of this rapidly developing field and facilitates future research by illuminating open challenges and opportunities for prompt engineering.

Fine-tuning continuous prompts for target tasks has recently emerged as a compact alternative to full model fine-tuning. Motivated by these promising results, we investigate the feasibility of extracting a discrete (textual) interpretation of continuous prompts that is faithful to the problem they solve. In practice, we observe a "wayward" behavior between the task solved by continuous prompts and their nearest neighbor discrete projections: We can find continuous prompts that solve a task while being projected to an arbitrary text (e.g., definition of a different or even a contradictory task), while being within a very small (2%) margin of the best continuous prompt of the same size for the task. We provide intuitions behind this odd and surprising behavior, as well as extensive empirical analyses quantifying the effect of various parameters. For instance, for larger model sizes we observe higher waywardness, i.e, we can find prompts that more closely map to any arbitrary text with a smaller drop in accuracy. These findings have important implications relating to the difficulty of faithfully interpreting continuous prompts and their generalization across models and tasks, providing guidance for future progress in prompting language models.

As large language models (LLMs) have progressed towards more human-like and human--AI communications have become prevalent, prompting has emerged as a decisive component. However, there is limited conceptual consensus on what exactly quantifies natural language prompts. We attempt to address this question by conducting a meta-analysis surveying more than 150 prompting-related papers from leading NLP and AI conferences from 2022 to 2025 and blogs. We propose a property- and human-centric framework for evaluating prompt quality, encompassing 21 properties categorized into six dimensions. We then examine how existing studies assess their impact on LLMs, revealing their imbalanced support across models and tasks, and substantial research gaps. Further, we analyze correlations among properties in high-quality natural language prompts, deriving prompting recommendations. We then empirically explore multi-property prompt enhancements in reasoning tasks, observing that single-property enhancements often have the greatest impact. Finally, we discover that instruction-tuning on property-enhanced prompts can result in better reasoning models. Our findings establish a foundation for property-centric prompt evaluation and optimization, bridging the gaps between human--AI communication and opening new prompting research directions.

LLMs increasingly exhibit over-refusal behavior, where safety mechanisms cause models to reject benign instructions that superficially resemble harmful content. This phenomena diminishes utility in production applications that repeatedly rely on common prompt templates or applications that frequently rely on LLMs for specific tasks (e.g. sentiment analysis, language translation). Through comprehensive evaluation, we demonstrate that LLMs still tend to refuse responses to harmful instructions when those instructions are reframed to appear as benign tasks. Our mechanistic analysis reveal that LLMs follow distinct "constellation" patterns in embedding space as representations traverse layers, with each task maintaining consistent trajectories that shift predictably between refusal and non-refusal cases. We introduce SafeConstellations, an inference-time trajectory-shifting approach that tracks task-specific trajectory patterns and guides representations toward non-refusal pathways. By selectively guiding model behavior only on tasks prone to over-refusal, and by preserving general model behavior, our method reduces over-refusal rates by up to 73% with minimal impact on utility-offering a principled approach to mitigating over-refusals.

Large language models such as GPT-3 (Brown et al., 2020) can perform arbitrary tasks without undergoing fine-tuning after being prompted with only a few labeled examples. An arbitrary task can be reformulated as a natural language prompt, and a language model can be asked to generate the completion, indirectly performing the task in a paradigm known as prompt-based learning. To date, emergent prompt-based learning capabilities have mainly been demonstrated for unidirectional language models. However, bidirectional language models pre-trained on denoising objectives such as masked language modeling produce stronger learned representations for transfer learning. This motivates the possibility of prompting bidirectional models, but their pre-training objectives have made them largely incompatible with the existing prompting paradigm. We present SAP (Sequential Autoregressive Prompting), a technique that enables the prompting of bidirectional models. Utilizing the machine translation task as a case study, we prompt the bidirectional mT5 model (Xue et al., 2021) with SAP and demonstrate its few-shot and zero-shot translations outperform the few-shot translations of unidirectional models like GPT-3 and XGLM (Lin et al., 2021), despite mT5's approximately 50% fewer parameters. We further show SAP is effective on question answering and summarization. For the first time, our results demonstrate prompt-based learning is an emergent property of a broader class of language models, rather than only unidirectional models.

Though the advancement of pre-trained large language models unfolds, the exploration of building a unified model for language and other multi-modal data, such as motion, remains challenging and untouched so far. Fortunately, human motion displays a semantic coupling akin to human language, often perceived as a form of body language. By fusing language data with large-scale motion models, motion-language pre-training that can enhance the performance of motion-related tasks becomes feasible. Driven by this insight, we propose MotionGPT, a unified, versatile, and user-friendly motion-language model to handle multiple motion-relevant tasks. Specifically, we employ the discrete vector quantization for human motion and transfer 3D motion into motion tokens, similar to the generation process of word tokens. Building upon this "motion vocabulary", we perform language modeling on both motion and text in a unified manner, treating human motion as a specific language. Moreover, inspired by prompt learning, we pre-train MotionGPT with a mixture of motion-language data and fine-tune it on prompt-based question-and-answer tasks. Extensive experiments demonstrate that MotionGPT achieves state-of-the-art performances on multiple motion tasks including text-driven motion generation, motion captioning, motion prediction, and motion in-between.

Recent advances in generative modeling have led to promising progress on synthesizing 3D human motion from text, with methods that can generate character animations from short prompts and specified durations. However, using a single text prompt as input lacks the fine-grained control needed by animators, such as composing multiple actions and defining precise durations for parts of the motion. To address this, we introduce the new problem of timeline control for text-driven motion synthesis, which provides an intuitive, yet fine-grained, input interface for users. Instead of a single prompt, users can specify a multi-track timeline of multiple prompts organized in temporal intervals that may overlap. This enables specifying the exact timings of each action and composing multiple actions in sequence or at overlapping intervals. To generate composite animations from a multi-track timeline, we propose a new test-time denoising method. This method can be integrated with any pre-trained motion diffusion model to synthesize realistic motions that accurately reflect the timeline. At every step of denoising, our method processes each timeline interval (text prompt) individually, subsequently aggregating the predictions with consideration for the specific body parts engaged in each action. Experimental comparisons and ablations validate that our method produces realistic motions that respect the semantics and timing of given text prompts. Our code and models are publicly available at https://mathis.petrovich.fr/stmc.

In this paper, we present our finding that prepending a Task-Agnostic Prefix Prompt (TAPP) to the input improves the instruction-following ability of various Large Language Models (LLMs) during inference. TAPP is different from canonical prompts for LLMs in that it is a fixed prompt prepended to the beginning of every input regardless of the target task for zero-shot generalization. We observe that both base LLMs (i.e. not fine-tuned to follow instructions) and instruction-tuned models benefit from TAPP, resulting in 34.58% and 12.26% improvement on average, respectively. This implies that the instruction-following ability of LLMs can be improved during inference time with a fixed prompt constructed with simple heuristics. We hypothesize that TAPP assists language models to better estimate the output distribution by focusing more on the instruction of the target task during inference. In other words, such ability does not seem to be sufficiently activated in not only base LLMs but also many instruction-fine-tuned LLMs. All experiments are reproducible from https://github.com/seonghyeonye/TAPP.

Non-verbal communication often comprises of semantically rich gestures that help convey the meaning of an utterance. Producing such semantic co-speech gestures has been a major challenge for the existing neural systems that can generate rhythmic beat gestures, but struggle to produce semantically meaningful gestures. Therefore, we present RAG-Gesture, a diffusion-based gesture generation approach that leverages Retrieval Augmented Generation (RAG) to produce natural-looking and semantically rich gestures. Our neuro-explicit gesture generation approach is designed to produce semantic gestures grounded in interpretable linguistic knowledge. We achieve this by using explicit domain knowledge to retrieve exemplar motions from a database of co-speech gestures. Once retrieved, we then inject these semantic exemplar gestures into our diffusion-based gesture generation pipeline using DDIM inversion and retrieval guidance at the inference time without any need of training. Further, we propose a control paradigm for guidance, that allows the users to modulate the amount of influence each retrieval insertion has over the generated sequence. Our comparative evaluations demonstrate the validity of our approach against recent gesture generation approaches. The reader is urged to explore the results on our project page.

Prompt engineering is an increasingly important skill set needed to converse effectively with large language models (LLMs), such as ChatGPT. Prompts are instructions given to an LLM to enforce rules, automate processes, and ensure specific qualities (and quantities) of generated output. Prompts are also a form of programming that can customize the outputs and interactions with an LLM. This paper describes a catalog of prompt engineering techniques presented in pattern form that have been applied to solve common problems when conversing with LLMs. Prompt patterns are a knowledge transfer method analogous to software patterns since they provide reusable solutions to common problems faced in a particular context, i.e., output generation and interaction when working with LLMs. This paper provides the following contributions to research on prompt engineering that apply LLMs to automate software development tasks. First, it provides a framework for documenting patterns for structuring prompts to solve a range of problems so that they can be adapted to different domains. Second, it presents a catalog of patterns that have been applied successfully to improve the outputs of LLM conversations. Third, it explains how prompts can be built from multiple patterns and illustrates prompt patterns that benefit from combination with other prompt patterns.

Large-scale generative language and vision-language models (LLMs and VLMs) excel in few-shot in-context learning for decision making and instruction following. However, they require high-quality exemplar demonstrations to be included in their context window. In this work, we ask: Can LLMs and VLMs generate their own prompt examples from generic, sub-optimal demonstrations? We propose In-Context Abstraction Learning (ICAL), a method that builds a memory of multimodal experience insights from sub-optimal demonstrations and human feedback. Given a noisy demonstration in a new domain, VLMs abstract the trajectory into a general program by fixing inefficient actions and annotating cognitive abstractions: task relationships, object state changes, temporal subgoals, and task construals. These abstractions are refined and adapted interactively through human feedback while the agent attempts to execute the trajectory in a similar environment. The resulting abstractions, when used as exemplars in the prompt, significantly improve decision-making in retrieval-augmented LLM and VLM agents. Our ICAL agent surpasses the state-of-the-art in dialogue-based instruction following in TEACh, multimodal web agents in VisualWebArena, and action anticipation in Ego4D. In TEACh, we achieve a 12.6% improvement in goal-condition success. In VisualWebArena, our task success rate improves over the SOTA from 14.3% to 22.7%. In Ego4D action forecasting, we improve over few-shot GPT-4V and remain competitive with supervised models. We show finetuning our retrieval-augmented in-context agent yields additional improvements. Our approach significantly reduces reliance on expert-crafted examples and consistently outperforms in-context learning from action plans that lack such insights.

Skeleton-based action recognition has recently received considerable attention. Current approaches to skeleton-based action recognition are typically formulated as one-hot classification tasks and do not fully exploit the semantic relations between actions. For example, "make victory sign" and "thumb up" are two actions of hand gestures, whose major difference lies in the movement of hands. This information is agnostic from the categorical one-hot encoding of action classes but could be unveiled from the action description. Therefore, utilizing action description in training could potentially benefit representation learning. In this work, we propose a Generative Action-description Prompts (GAP) approach for skeleton-based action recognition. More specifically, we employ a pre-trained large-scale language model as the knowledge engine to automatically generate text descriptions for body parts movements of actions, and propose a multi-modal training scheme by utilizing the text encoder to generate feature vectors for different body parts and supervise the skeleton encoder for action representation learning. Experiments show that our proposed GAP method achieves noticeable improvements over various baseline models without extra computation cost at inference. GAP achieves new state-of-the-arts on popular skeleton-based action recognition benchmarks, including NTU RGB+D, NTU RGB+D 120 and NW-UCLA. The source code is available at https://github.com/MartinXM/GAP.

Current large language models have dangerous capabilities, which are likely to become more problematic in the future. Activation steering techniques can be used to reduce risks from these capabilities. In this paper, we investigate the efficacy of activation steering for broad skills and multiple behaviours. First, by comparing the effects of reducing performance on general coding ability and Python-specific ability, we find that steering broader skills is competitive to steering narrower skills. Second, we steer models to become more or less myopic and wealth-seeking, among other behaviours. In our experiments, combining steering vectors for multiple different behaviours into one steering vector is largely unsuccessful. On the other hand, injecting individual steering vectors at different places in a model simultaneously is promising.

In this paper, we show that when spoken language models (SLMs) are instructed to speak in a specific speaking style at the beginning of a multi-turn conversation, they cannot maintain the required speaking styles after several turns of interaction; we refer to this as the style amnesia of SLMs. We focus on paralinguistic speaking styles, including emotion, accent, volume, and speaking speed. We evaluate three proprietary and two open-source SLMs, demonstrating that none of these models can maintain a consistent speaking style when instructed to do so. We further show that when SLMs are asked to recall the style instruction in later turns, they can recall the style instruction, but they fail to express it throughout the conversation. We also show that explicitly asking the model to recall the style instruction can partially mitigate style amnesia. In addition, we examine various prompting strategies and find that SLMs struggle to follow the required style when the instruction is placed in system messages rather than user messages, which contradicts the intended function of system prompts.

We investigate the efficacy of visual prompting to adapt large-scale models in vision. Following the recent approach from prompt tuning and adversarial reprogramming, we learn a single image perturbation such that a frozen model prompted with this perturbation performs a new task. Through comprehensive experiments, we demonstrate that visual prompting is particularly effective for CLIP and robust to distribution shift, achieving performance competitive with standard linear probes. We further analyze properties of the downstream dataset, prompt design, and output transformation in regard to adaptation performance. The surprising effectiveness of visual prompting provides a new perspective on adapting pre-trained models in vision. Code is available at http://hjbahng.github.io/visual_prompting .

Generating images with a Text-to-Image model often requires multiple trials, where human users iteratively update their prompt based on feedback, namely the output image. Taking inspiration from cognitive work on reference games and dialogue alignment, this paper analyzes the dynamics of the user prompts along such iterations. We compile a dataset of iterative interactions of human users with Midjourney. Our analysis then reveals that prompts predictably converge toward specific traits along these iterations. We further study whether this convergence is due to human users, realizing they missed important details, or due to adaptation to the model's ``preferences'', producing better images for a specific language style. We show initial evidence that both possibilities are at play. The possibility that users adapt to the model's preference raises concerns about reusing user data for further training. The prompts may be biased towards the preferences of a specific model, rather than align with human intentions and natural manner of expression.

Motion instruction is a crucial task that helps athletes refine their technique by analyzing movements and providing corrective guidance. Although recent advances in multimodal models have improved motion understanding, generating precise and sport-specific instruction remains challenging due to the highly domain-specific nature of sports and the need for informative guidance. We propose CoachMe, a reference-based model that analyzes the differences between a learner's motion and a reference under temporal and physical aspects. This approach enables both domain-knowledge learning and the acquisition of a coach-like thinking process that identifies movement errors effectively and provides feedback to explain how to improve. In this paper, we illustrate how CoachMe adapts well to specific sports such as skating and boxing by learning from general movements and then leveraging limited data. Experiments show that CoachMe provides high-quality instructions instead of directions merely in the tone of a coach but without critical information. CoachMe outperforms GPT-4o by 31.6% in G-Eval on figure skating and by 58.3% on boxing. Analysis further confirms that it elaborates on errors and their corresponding improvement methods in the generated instructions. You can find CoachMe here: https://motionxperts.github.io/

Chain-of-thought (CoT) prompting for language models demonstrates impressive performance across reasoning tasks, but typically needs labeled exemplars of the reasoning process. In this work, we introduce a new prompting approach, Analogical Prompting, designed to automatically guide the reasoning process of large language models. Inspired by analogical reasoning, a cognitive process in which humans draw from relevant past experiences to tackle new problems, our approach prompts language models to self-generate relevant exemplars or knowledge in the context, before proceeding to solve the given problem. This method presents several advantages: it obviates the need for labeling or retrieving exemplars, offering generality and convenience; it can also tailor the generated exemplars and knowledge to each problem, offering adaptability. Experimental results show that our approach outperforms 0-shot CoT and manual few-shot CoT in a variety of reasoning tasks, including math problem solving in GSM8K and MATH, code generation in Codeforces, and other reasoning tasks in BIG-Bench.

Text-to-motion generation is a formidable task, aiming to produce human motions that align with the input text while also adhering to human capabilities and physical laws. While there have been advancements in diffusion models, their application in discrete spaces remains underexplored. Current methods often overlook the varying significance of different motions, treating them uniformly. It is essential to recognize that not all motions hold the same relevance to a particular textual description. Some motions, being more salient and informative, should be given precedence during generation. In response, we introduce a Priority-Centric Motion Discrete Diffusion Model (M2DM), which utilizes a Transformer-based VQ-VAE to derive a concise, discrete motion representation, incorporating a global self-attention mechanism and a regularization term to counteract code collapse. We also present a motion discrete diffusion model that employs an innovative noise schedule, determined by the significance of each motion token within the entire motion sequence. This approach retains the most salient motions during the reverse diffusion process, leading to more semantically rich and varied motions. Additionally, we formulate two strategies to gauge the importance of motion tokens, drawing from both textual and visual indicators. Comprehensive experiments on the HumanML3D and KIT-ML datasets confirm that our model surpasses existing techniques in fidelity and diversity, particularly for intricate textual descriptions.

Prompting and steering techniques are well established in general-purpose generative AI, yet assistive visual question answering (VQA) tools for blind users still follow rigid interaction patterns with limited opportunities for customization. User control can be helpful when system responses are misaligned with their goals and contexts, a gap that becomes especially consequential for blind users that may rely on these systems for access. We invite 11 blind users to customize their interactions with a real-world conversational VQA system. Drawing on 418 interactions, reflections, and post-study interviews, we analyze prompting-based techniques participants adopted, including those introduced in the study and those developed independently in real-world settings. VQA interactions were often lengthy: participants averaged 3 turns, sometimes up to 21, with input text typically tenfold shorter than the responses they heard. Built on state-of-the-art LLMs, the system lacked verbosity controls, was limited in estimating distance in space and time, relied on inaccessible image framing, and offered little to no camera guidance. We discuss how customization techniques such as prompt engineering can help participants work around these limitations. Alongside a new publicly available dataset, we offer insights for interaction design at both query and system levels.

In the heart of "rhythm games" - games where players must perform actions in sync with a piece of music - are "charts", the directives to be given to players. We newly formulate chart generation as a sequence generation task and train a Transformer using a large dataset. We also introduce tempo-informed preprocessing and training procedures, some of which are suggested to be integral for a successful training. Our model is found to outperform the baselines on a large dataset, and is also found to benefit from pretraining and finetuning.

Visual Prompt Tuning (VPT) is an effective tuning method for adapting pretrained Vision Transformers (ViTs) to downstream tasks. It leverages extra learnable tokens, known as prompts, which steer the frozen pretrained ViTs. Although VPT has demonstrated its applicability with supervised vision transformers, it often underperforms with self-supervised ones. Through empirical observations, we deduce that the effectiveness of VPT hinges largely on the ViT blocks with which the prompt tokens interact. Specifically, VPT shows improved performance on image classification tasks for MAE and MoCo v3 when the prompt tokens are inserted into later blocks rather than the first block. These observations suggest that there exists an optimal location of blocks for the insertion of prompt tokens. Unfortunately, identifying the optimal blocks for prompts within each self-supervised ViT for diverse future scenarios is a costly process. To mitigate this problem, we propose a simple yet effective method that learns a gate for each ViT block to adjust its intervention into the prompt tokens. With our method, prompt tokens are selectively influenced by blocks that require steering for task adaptation. Our method outperforms VPT variants in FGVC and VTAB image classification and ADE20K semantic segmentation. The code is available at https://github.com/ryongithub/GatedPromptTuning.

Large language models (LLMs) have recently demonstrated the potential in acting as autonomous agents for sequential decision-making tasks. However, most existing methods either take actions greedily without planning or rely on static plans that are not adaptable to environmental feedback. Consequently, the sequential decision-making performance of LLM agents degenerates with problem complexity and plan horizons increase. We propose a closed-loop approach, AdaPlanner, which allows the LLM agent to refine its self-generated plan adaptively in response to environmental feedback. In AdaPlanner, the LLM agent adaptively refines its plan from feedback with both in-plan and out-of-plan refinement strategies. To mitigate hallucination, we develop a code-style LLM prompt structure that facilitates plan generation across a variety of tasks, environments, and agent capabilities. Furthermore, we propose a skill discovery mechanism that leverages successful plans as few-shot exemplars, enabling the agent to plan and refine with fewer task demonstrations. Our experiments in the ALFWorld and MiniWoB++ environments demonstrate that AdaPlanner outperforms state-of-the-art baselines by 3.73% and 4.11% while utilizing 2x and 600x fewer samples, respectively.

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are not grounded in the physical world. Existing LLM-based approaches circumvent this problem by relying on additional pre-defined skills or pre-trained sub-policies, making it hard to adapt to new tasks. In contrast, we aim to address this problem and explore the possibility to prompt pre-trained LLMs to accomplish a series of robotic manipulation tasks in a training-free paradigm. Accordingly, we propose a framework called LLM+A(ffordance) where the LLM serves as both the sub-task planner (that generates high-level plans) and the motion controller (that generates low-level control sequences). To ground these plans and control sequences on the physical world, we develop the affordance prompting technique that stimulates the LLM to 1) predict the consequences of generated plans and 2) generate affordance values for relevant objects. Empirically, we evaluate the effectiveness of LLM+A in various language-conditioned robotic manipulation tasks, which show that our approach substantially improves performance by enhancing the feasibility of generated plans and control and can easily generalize to different environments.

The latest generation of LLMs can be prompted to achieve impressive zero-shot or few-shot performance in many NLP tasks. However, since performance is highly sensitive to the choice of prompts, considerable effort has been devoted to crowd-sourcing prompts or designing methods for prompt optimisation. Yet, we still lack a systematic understanding of how linguistic properties of prompts correlate with task performance. In this work, we investigate how LLMs of different sizes, pre-trained and instruction-tuned, perform on prompts that are semantically equivalent, but vary in linguistic structure. We investigate both grammatical properties such as mood, tense, aspect and modality, as well as lexico-semantic variation through the use of synonyms. Our findings contradict the common assumption that LLMs achieve optimal performance on lower perplexity prompts that reflect language use in pretraining or instruction-tuning data. Prompts transfer poorly between datasets or models, and performance cannot generally be explained by perplexity, word frequency, ambiguity or prompt length. Based on our results, we put forward a proposal for a more robust and comprehensive evaluation standard for prompting research.

Large Language Models prompting, such as using in-context demonstrations, is a mainstream technique for invoking LLMs to perform high-performance and solid complex reasoning (e.g., mathematical reasoning, commonsense reasoning), and has the potential for further human-machine collaborative scientific findings. However, current LLMs are delicate and elusive in prompt words and styles. And there is an unseen gap between LLM understanding and human-written prompts. This paper introduces Alignedcot, an LLM-acquainted prompting technique that includes proficient ``native-speaking'' in in-context learning for the LLMs. Specifically, it achieves consistent and correct step-wise prompts in zero-shot scenarios by progressively probing, refining, and formatting the LLM chain of thoughts so that free from handcrafted few-shot demonstrations while maintaining the prompt quality. We conduct experiments on mathematical reasoning and commonsense reasoning. We find that LLMs with Alignedcot perform significantly superior to them with human-crafted demonstrations. We further apply Alignedcot for rewriting the GSM8K training set, resulting in a GSM8K-Align dataset. We observe its benefits for retrieval augmented generation. The code and data can be found at https://github.com/yangzhch6/AlignedCoT.

With the spread of the use of Text2Img diffusion models such as DALL-E 2, Imagen, Mid Journey and Stable Diffusion, one challenge that artists face is selecting the right prompts to achieve the desired artistic output. We present techniques for measuring the effect that specific words and phrases in prompts have, and (in the Appendix) present guidance on the selection of prompts to produce desired effects.

The recent trend in the Large Vision and Language model has brought a new change in how information extraction systems are built. VLMs have set a new benchmark with their State-of-the-art techniques in understanding documents and building question-answering systems across various industries. They are significantly better at generating text from document images and providing accurate answers to questions. However, there are still some challenges in effectively utilizing these models to build a precise conversational system. General prompting techniques used with large language models are often not suitable for these specially designed vision language models. The output generated by such generic input prompts is ordinary and may contain information gaps when compared with the actual content of the document. To obtain more accurate and specific answers, a well-targeted prompt is required by the vision language model, along with the document image. In this paper, a technique is discussed called Target prompting, which focuses on explicitly targeting parts of document images and generating related answers from those specific regions only. The paper also covers the evaluation of response for each prompting technique using different user queries and input prompts.

Controlling the generation of large language models (LLMs) remains a central challenge to ensure their safe and reliable deployment. While prompt engineering and finetuning are common approaches, recent work has explored latent steering, a lightweight technique that alters LLM internal activations to guide generation. However, subsequent studies revealed latent steering's effectiveness to be limited, often underperforming simple instruction prompting. To address this limitation, we first establish a benchmark across diverse behaviors for standardized evaluation of steering techniques. Building on insights from this benchmark, we introduce Instruction Attention Boosting (InstABoost), a latent steering method that boosts the strength of instruction prompting by altering the model's attention during generation. InstABoost combines the strengths of existing approaches and is theoretically supported by prior work that suggests that in-context rule following in transformer-based models can be controlled by manipulating attention on instructions. Empirically, InstABoost demonstrates superior control success compared to both traditional prompting and latent steering.

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction following and task planning. However, not much attention has been paid to embodied tasks with multimodal prompts, combining vision signals with text descriptions. This type of task poses a major challenge to robots' capability to understand the interconnection and complementarity between vision and language signals. In this work, we introduce an effective framework that learns a policy to perform robot manipulation with multimodal prompts from multi-task expert trajectories. Our methods consist of a two-stage training pipeline that performs inverse dynamics pretraining and multi-task finetuning. To facilitate multimodal understanding, we design our multimodal prompt encoder by augmenting a pretrained LM with a residual connection to the visual input and model the dependencies among action dimensions. Empirically, we evaluate the efficacy of our method on the VIMA-BENCH and establish a new state-of-the-art (10% improvement in success rate). Moreover, we demonstrate that our model exhibits remarkable in-context learning ability.

Chain-of-Thought (CoT) prompting has improved the reasoning performance of large language models (LLMs), but it remains unclear why it works and whether it is the unique mechanism for triggering reasoning in large language models. In this work, we study this question by directly analyzing and intervening on the internal representations of LLMs with Sparse Autoencoders (SAEs), identifying a small set of latent features that are causally associated with LLM reasoning behavior. Across multiple model families and reasoning benchmarks, we find that steering a single reasoning-related latent feature can substantially improve accuracy without explicit CoT prompting. For large models, latent steering achieves performance comparable to standard CoT prompting while producing more efficient outputs. We further observe that this reasoning-oriented internal state is triggered early in generation and can override prompt-level instructions that discourage explicit reasoning. Overall, our results suggest that multi-step reasoning in LLMs is supported by latent internal activations that can be externally activated, while CoT prompting is one effective, but not unique, way of activating this mechanism rather than its necessary cause.

Computer-Use Agents (CUAs) are an increasingly deployed class of agents that take actions on GUIs to accomplish user goals. In this paper, we show that CUAs consistently exhibit Blind Goal-Directedness (BGD): a bias to pursue goals regardless of feasibility, safety, reliability, or context. We characterize three prevalent patterns of BGD: (i) lack of contextual reasoning, (ii) assumptions and decisions under ambiguity, and (iii) contradictory or infeasible goals. We develop BLIND-ACT, a benchmark of 90 tasks capturing these three patterns. Built on OSWorld, BLIND-ACT provides realistic environments and employs LLM-based judges to evaluate agent behavior, achieving 93.75% agreement with human annotations. We use BLIND-ACT to evaluate nine frontier models, including Claude Sonnet and Opus 4, Computer-Use-Preview, and GPT-5, observing high average BGD rates (80.8%) across them. We show that BGD exposes subtle risks that arise even when inputs are not directly harmful. While prompting-based interventions lower BGD levels, substantial risk persists, highlighting the need for stronger training- or inference-time interventions. Qualitative analysis reveals observed failure modes: execution-first bias (focusing on how to act over whether to act), thought-action disconnect (execution diverging from reasoning), and request-primacy (justifying actions due to user request). Identifying BGD and introducing BLIND-ACT establishes a foundation for future research on studying and mitigating this fundamental risk and ensuring safe CUA deployment.

Large language models (LLMs) have shown remarkable success across a wide range of natural language generation tasks, where proper prompt designs make great impacts. While existing prompting methods are normally restricted to providing correct information, in this paper, we encourage the model to deliberate by proposing a novel Deliberate then Generate (DTG) prompting framework, which consists of error detection instructions and candidates that may contain errors. DTG is a simple yet effective technique that can be applied to various text generation tasks with minimal modifications. We conduct extensive experiments on 20+ datasets across 7 text generation tasks, including summarization, translation, dialogue, and more. We show that DTG consistently outperforms existing prompting methods and achieves state-of-the-art performance on multiple text generation tasks. We also provide in-depth analyses to reveal the underlying mechanisms of DTG, which may inspire future research on prompting for LLMs.

In our work we not explicitly hint that it is a misconception to think that humans learn fast. Learning process takes time. Babies start learning to move in the restricted liquid area called placenta. Children often are limited by underdeveloped body. Even adults are not allowed to participate in complex competitions right away. However, with robots, when learning from scratch, we often don't have the privilege of waiting for dozen millions of steps. "Swaddling" regularization is responsible for restraining an agent in rapid but unstable development penalizing action strength in a specific way not affecting actions directly. The Symphony, Transitional-policy Deterministic Actor and Critic algorithm, is a concise combination of different ideas for possibility of training humanoid robots from scratch with Sample Efficiency, Sample Proximity and Safety of Actions in mind. It is no secret that continuous increase in Gaussian noise without appropriate smoothing is harmful for motors and gearboxes. Compared to Stochastic algorithms, we set a limited parametric noise and promote a reduced strength of actions, safely increasing entropy, since the actions are kind of immersed in weaker noise. When actions require more extreme values, actions rise above the weak noise. Training becomes empirically much safer for both the environment around and the robot's mechanisms. We use Fading Replay Buffer: using a fixed formula containing the hyperbolic tangent, we adjust the batch sampling probability: the memory contains a recent memory and a long-term memory trail. Fading Replay Buffer allows us to use Temporal Advantage when we improve the current Critic Network prediction compared to the exponential moving average. Temporal Advantage allows us to update Actor and Critic in one pass, as well as combine Actor and Critic in one Object and implement their Losses in one line.

A dangerous assumption that can be made from prior work on the bias transfer hypothesis (BTH) is that biases do not transfer from pre-trained large language models (LLMs) to adapted models. We invalidate this assumption by studying the BTH in causal models under prompt adaptations, as prompting is an extremely popular and accessible adaptation strategy used in real-world applications. In contrast to prior work, we find that biases can transfer through prompting and that popular prompt-based mitigation methods do not consistently prevent biases from transferring. Specifically, the correlation between intrinsic biases and those after prompt adaptation remain moderate to strong across demographics and tasks -- for example, gender (rho >= 0.94) in co-reference resolution, and age (rho >= 0.98) and religion (rho >= 0.69) in question answering. Further, we find that biases remain strongly correlated when varying few-shot composition parameters, such as sample size, stereotypical content, occupational distribution and representational balance (rho >= 0.90). We evaluate several prompt-based debiasing strategies and find that different approaches have distinct strengths, but none consistently reduce bias transfer across models, tasks or demographics. These results demonstrate that correcting bias, and potentially improving reasoning ability, in intrinsic models may prevent propagation of biases to downstream tasks.

The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting large-scale real-world manipulation data remains difficult to scale across diverse environments. Recent work uses text-prompt conditioned image diffusion models to augment manipulation data by altering the backgrounds and tabletop objects in the visual observations. However, these approaches often overlook the practical need for multi-view and temporally coherent observations required by state-of-the-art policy models. Further, text prompts alone cannot reliably specify the scene setup. To provide the diffusion model with explicit visual guidance, we introduce visual identity prompting, which supplies exemplar images as conditioning inputs to guide the generation of the desired scene setup. To this end, we also build a scalable pipeline to curate a visual identity pool from large robotics datasets. Using our augmented manipulation data to train downstream vision-language-action and visuomotor policy models yields consistent performance gains in both simulation and real-robot settings.

While large language models (LLMs) have demonstrated impressive capabilities across tasks in language understanding and interactive decision making, their abilities for reasoning (e.g. chain-of-thought prompting) and acting (e.g. action plan generation) have primarily been studied as separate topics. In this paper, we explore the use of LLMs to generate both reasoning traces and task-specific actions in an interleaved manner, allowing for greater synergy between the two: reasoning traces help the model induce, track, and update action plans as well as handle exceptions, while actions allow it to interface with external sources, such as knowledge bases or environments, to gather additional information. We apply our approach, named ReAct, to a diverse set of language and decision making tasks and demonstrate its effectiveness over state-of-the-art baselines, as well as improved human interpretability and trustworthiness over methods without reasoning or acting components. Concretely, on question answering (HotpotQA) and fact verification (Fever), ReAct overcomes issues of hallucination and error propagation prevalent in chain-of-thought reasoning by interacting with a simple Wikipedia API, and generates human-like task-solving trajectories that are more interpretable than baselines without reasoning traces. On two interactive decision making benchmarks (ALFWorld and WebShop), ReAct outperforms imitation and reinforcement learning methods by an absolute success rate of 34% and 10% respectively, while being prompted with only one or two in-context examples. Project site with code: https://react-lm.github.io

Large Language Models (LLMs) have shown prominent performance in various downstream tasks and prompt engineering plays a pivotal role in optimizing LLMs' performance. This paper, not only as an overview of current prompt engineering methods, but also aims to highlight the limitation of designing prompts based on an anthropomorphic assumption that expects LLMs to think like humans. From our review of 50 representative studies, we demonstrate that a goal-oriented prompt formulation, which guides LLMs to follow established human logical thinking, significantly improves the performance of LLMs. Furthermore, We introduce a novel taxonomy that categorizes goal-oriented prompting methods into five interconnected stages and we demonstrate the broad applicability of our framework. With four future directions proposed, we hope to further emphasize the power and potential of goal-oriented prompt engineering in all fields.

Language provides a way to break down complex concepts into digestible pieces. Recent works in robot imitation learning use language-conditioned policies that predict actions given visual observations and the high-level task specified in language. These methods leverage the structure of natural language to share data between semantically similar tasks (e.g., "pick coke can" and "pick an apple") in multi-task datasets. However, as tasks become more semantically diverse (e.g., "pick coke can" and "pour cup"), sharing data between tasks becomes harder, so learning to map high-level tasks to actions requires much more demonstration data. To bridge tasks and actions, our insight is to teach the robot the language of actions, describing low-level motions with more fine-grained phrases like "move arm forward". Predicting these language motions as an intermediate step between tasks and actions forces the policy to learn the shared structure of low-level motions across seemingly disparate tasks. Furthermore, a policy that is conditioned on language motions can easily be corrected during execution through human-specified language motions. This enables a new paradigm for flexible policies that can learn from human intervention in language. Our method RT-H builds an action hierarchy using language motions: it first learns to predict language motions, and conditioned on this and the high-level task, it predicts actions, using visual context at all stages. We show that RT-H leverages this language-action hierarchy to learn policies that are more robust and flexible by effectively tapping into multi-task datasets. We show that these policies not only allow for responding to language interventions, but can also learn from such interventions and outperform methods that learn from teleoperated interventions. Our website and videos are found at https://rt-hierarchy.github.io.

Large language models (LLMs) have achieved remarkable performance across many generation tasks. Nevertheless, effectively aligning them with desired behaviors remains a significant challenge. Activation steering is an effective and cost-efficient approach that directly modifies the activations of LLMs during the inference stage, aligning their responses with the desired behaviors and avoiding the high cost of fine-tuning. Existing methods typically indiscriminately intervene to all generations or rely solely on the question to determine intervention, which limits the accurate assessment of the intervention strength. To this end, we propose the Flexible Activation Steering with Backtracking (FASB) framework, which dynamically determines both the necessity and strength of intervention by tracking the internal states of the LLMs during generation, considering both the question and the generated content. Since intervening after detecting a deviation from the desired behavior is often too late, we further propose the backtracking mechanism to correct the deviated tokens and steer the LLMs toward the desired behavior. Extensive experiments on the TruthfulQA dataset and six multiple-choice datasets demonstrate that our method outperforms baselines. Our code will be released at https://github.com/gjw185/FASB.

This report investigates approaches for prompting a tool-augmented large language model (LLM) to act as a role-playing dialogue agent in the API track of the Commonsense Persona-grounded Dialogue Challenge (CPDC) 2025. In this setting, dialogue agents often produce overly long in-character responses (over-speaking) while failing to use tools effectively according to the persona (under-acting), such as generating function calls that do not exist or making unnecessary tool calls before answering. We explore four prompting approaches to address these issues: 1) basic role prompting, 2) improved role prompting, 3) automatic prompt optimization (APO), and 4) rule-based role prompting. The rule-based role prompting (RRP) approach achieved the best performance through two novel techniques-character-card/scene-contract design and strict enforcement of function calling-which led to an overall score of 0.571, improving on the zero-shot baseline score of 0.519. These findings demonstrate that RRP design can substantially improve the effectiveness and reliability of role-playing dialogue agents compared with more elaborate methods such as APO. To support future efforts in developing persona prompts, we are open-sourcing all of our best-performing prompts and the APO tool Source code is available at https://github.com/scb-10x/apo

Since the launch of ChatGPT, a powerful AI Chatbot developed by OpenAI, large language models (LLMs) have made significant advancements in both academia and industry, bringing about a fundamental engineering paradigm shift in many areas. While LLMs are powerful, it is also crucial to best use their power where "prompt'' plays a core role. However, the booming LLMs themselves, including excellent APIs like ChatGPT, have several inherent limitations: 1) temporal lag of training data, and 2) the lack of physical capabilities to perform external actions. Recently, we have observed the trend of utilizing prompt-based tools to better utilize the power of LLMs for downstream tasks, but a lack of systematic literature and standardized terminology, partly due to the rapid evolution of this field. Therefore, in this work, we survey related prompting tools and promote the concept of the "Prompting Framework" (PF), i.e. the framework for managing, simplifying, and facilitating interaction with large language models. We define the lifecycle of the PF as a hierarchical structure, from bottom to top, namely: Data Level, Base Level, Execute Level, and Service Level. We also systematically depict the overall landscape of the emerging PF field and discuss potential future research and challenges. To continuously track the developments in this area, we maintain a repository at https://github.com/lxx0628/Prompting-Framework-Survey, which can be a useful resource sharing platform for both academic and industry in this field.

We study prompting-based approaches with Large Language Models (LLMs) for modifying documents so as to promote their ranking in a competitive search setting. Our methods are inspired by prior work on leveraging LLMs as rankers. We evaluate our approach by deploying it as a bot in previous ranking competitions and in competitions we organized. Our findings demonstrate that our approach effectively improves document ranking while preserving high levels of faithfulness to the original content and maintaining overall document quality.

Deploying LLMs in real-world applications requires controllable output that satisfies multiple desiderata at the same time. While existing work extensively addresses LLM steering for a single behavior, compositional steering -- i.e., steering LLMs simultaneously towards multiple behaviors -- remains an underexplored problem. In this work, we propose compositional steering tokens for multi-behavior steering. We first embed individual behaviors, expressed as natural language instructions, into dedicated tokens via self-distillation. Contrary to most prior work, which operates in the activation space, our behavior steers live in the space of input tokens, enabling more effective zero-shot composition. We then train a dedicated composition token on pairs of behaviors and show that it successfully captures the notion of composition: it generalizes well to unseen compositions, including those with unseen behaviors as well as those with an unseen number of behaviors. Our experiments across different LLM architectures show that steering tokens lead to superior multi-behavior control compared to competing approaches (instructions, activation steering, and LoRA merging). Moreover, we show that steering tokens complement natural language instructions, with their combination resulting in further gains.

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs produce only textual outputs, while robotic control and other spatial tasks require outputting continuous coordinates, actions, or trajectories. How can we enable VLMs to handle such settings without fine-tuning on task-specific data? In this paper, we propose a novel visual prompting approach for VLMs that we call Prompting with Iterative Visual Optimization (PIVOT), which casts tasks as iterative visual question answering. In each iteration, the image is annotated with a visual representation of proposals that the VLM can refer to (e.g., candidate robot actions, localizations, or trajectories). The VLM then selects the best ones for the task. These proposals are iteratively refined, allowing the VLM to eventually zero in on the best available answer. We investigate PIVOT on real-world robotic navigation, real-world manipulation from images, instruction following in simulation, and additional spatial inference tasks such as localization. We find, perhaps surprisingly, that our approach enables zero-shot control of robotic systems without any robot training data, navigation in a variety of environments, and other capabilities. Although current performance is far from perfect, our work highlights potentials and limitations of this new regime and shows a promising approach for Internet-Scale VLMs in robotic and spatial reasoning domains. Website: pivot-prompt.github.io and HuggingFace: https://huggingface.co/spaces/pivot-prompt/pivot-prompt-demo.

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.

Chain-of-thought (CoT) prompting is a popular in-context learning (ICL) approach for large language models (LLMs), especially when tackling complex reasoning tasks. Traditional ICL approaches construct prompts using examples that contain questions similar to the input question. However, CoT prompting, which includes crucial intermediate reasoning steps (rationales) within its examples, necessitates selecting examples based on these rationales rather than the questions themselves. Existing methods require human experts or pre-trained LLMs to describe the skill, a high-level abstraction of rationales, to guide the selection. These methods, however, are often costly and difficult to scale. Instead, this paper introduces a new approach named Latent Reasoning Skills (LaRS) that employs unsupervised learning to create a latent space representation of rationales, with a latent variable called a reasoning skill. Concurrently, LaRS learns a reasoning policy to determine the required reasoning skill for a given question. Then the ICL examples are selected by aligning the reasoning skills between past examples and the question. This approach is theoretically grounded and compute-efficient, eliminating the need for auxiliary LLM inference or manual prompt design. Empirical results demonstrate that LaRS consistently outperforms SOTA skill-based selection methods, processing example banks four times faster, reducing LLM inferences during the selection stage by half, and showing greater robustness to sub-optimal example banks.

Reasoning is a fundamental component for achieving language understanding. Among the multiple types of reasoning, conditional reasoning, the ability to draw different conclusions depending on some condition, has been understudied in large language models (LLMs). Recent prompting methods, such as chain of thought, have significantly improved LLMs on reasoning tasks. Nevertheless, there is still little understanding of what triggers reasoning abilities in LLMs. We hypothesize that code prompts can trigger conditional reasoning in LLMs trained on text and code. We propose a chain of prompts that transforms a natural language problem into code and prompts the LLM with the generated code. Our experiments find that code prompts exhibit a performance boost between 2.6 and 7.7 points on GPT 3.5 across multiple datasets requiring conditional reasoning. We then conduct experiments to discover how code prompts elicit conditional reasoning abilities and through which features. We observe that prompts need to contain natural language text accompanied by high-quality code that closely represents the semantics of the instance text. Furthermore, we show that code prompts are more efficient, requiring fewer demonstrations, and that they trigger superior state tracking of variables or key entities.

Generating lifelike human motions from descriptive texts has experienced remarkable research focus in the recent years, propelled by the emerging requirements of digital humans.Despite impressive advances, existing approaches are often constrained by limited control modalities, task specificity, and focus solely on body motion representations.In this paper, we present MotionGPT-2, a unified Large Motion-Language Model (LMLM) that addresses these limitations. MotionGPT-2 accommodates multiple motion-relevant tasks and supporting multimodal control conditions through pre-trained Large Language Models (LLMs). It quantizes multimodal inputs-such as text and single-frame poses-into discrete, LLM-interpretable tokens, seamlessly integrating them into the LLM's vocabulary. These tokens are then organized into unified prompts, guiding the LLM to generate motion outputs through a pretraining-then-finetuning paradigm. We also show that the proposed MotionGPT-2 is highly adaptable to the challenging 3D holistic motion generation task, enabled by the innovative motion discretization framework, Part-Aware VQVAE, which ensures fine-grained representations of body and hand movements. Extensive experiments and visualizations validate the effectiveness of our method, demonstrating the adaptability of MotionGPT-2 across motion generation, motion captioning, and generalized motion completion tasks.

Recently introduced language model prompting methods can achieve high accuracy in zero- and few-shot settings while requiring few to no learned task-specific parameters. Nevertheless, these methods still often trail behind full model finetuning. In this work, we investigate if a dedicated continued pretraining stage could improve "promptability", i.e., zero-shot performance with natural language prompts or few-shot performance with prompt tuning. We reveal settings where existing continued pretraining methods lack promptability. We also identify current methodological gaps, which we fill with thorough large-scale experiments. We demonstrate that a simple recipe, continued pretraining that incorporates a trainable prompt during multi-task learning, leads to improved promptability in both zero- and few-shot settings compared to existing methods, up to 31% relative. On the other hand, we find that continued pretraining using MAML-style meta-learning, a method that directly optimizes few-shot promptability, yields subpar performance. We validate our findings with two prompt tuning methods, and, based on our results, we provide concrete recommendations to optimize promptability for different use cases.