We present an active mapping system that could plan for long-horizon exploration goals and short-term actions with a 3D Gaussian Splatting (3DGS) representation. Existing methods either did not take advantage of recent developments in multimodal Large Language Models (LLM) or did not consider challenges in localization uncertainty, which is critical in embodied agents. We propose employing multimodal LLMs for long-horizon planning in conjunction with detailed motion planning using our information-based algorithm. By leveraging high-quality view synthesis from our 3DGS representation, our method employs a multimodal LLM as a zero-shot planner for long-horizon exploration goals from the semantic perspective. We also introduce an uncertainty-aware path proposal and selection algorithm that balances the dual objectives of maximizing the information gain for the environment while minimizing the cost of localization errors. Experiments conducted on the Gibson and Habitat-Matterport 3D datasets demonstrate state-of-the-art results of the proposed method.

In this paper we provide a novel mathematical optimization based methodology to perturb the features of a given observation to be re-classified, by a tree ensemble classification rule, to a certain desired class. The method is based on these facts: the most viable changes for an observation to reach the desired class do not always coincide with the closest distance point (in the feature space) of the target class; individuals put effort on a few number of features to reach the desired class; and each individual is endowed with a probability to change each of its features to a given value, which determines the overall probability of changing to the target class. Putting all together, we provide different methods to find the features where the individuals must exert effort to maximize the probability to reach the target class. Our method also allows us to rank the most important features in the tree-ensemble. The proposed methodology is tested on a real dataset, validating the proposal.

The world can be a complex and difficult place to navigate. People with High-Functioning Autistic Spectrum Disorder as well as general social ineptitude often face navigation challenges that individuals of other demographics simply do not themselves. This can become even more pronounced with people of that specific group when they are in their teenage years and early adulthood (that being the usual age range of college students). When they are at such a vulnerable age, they can be far more susceptible to the struggles of becoming comfortable and content with social interactions as well as having strong relationships (outside their immediate family). Concerning this, the rapid emergence of artificial intelligence chatbots has led to many of them being used to benefit people of different ages and demographics with easy accessibility. With this, if there is anything that people with High-Functioning ASD and social ineptitude want when it comes to guidance towards self-improvement, surely easy accessibility would be one. What are the potential benefits and limitations of using a Mindstudio AI-powered chatbot to provide mental health support for teens and young adults with the aforementioned conditions? What could be done with a tool like this to help those individuals navigate ethical dilemmas within different social environments to reduce existing social tensions? This paper addresses these queries and offers insights to inform future discussions on the subject.

Pre-training Large Language Models (LLMs) on high-quality, meticulously curated datasets is widely recognized as critical for enhancing their performance and generalization capabilities. This study explores the untapped potential of Common Crawl as a comprehensive and flexible resource for pre-training LLMs, addressing both general-purpose language understanding and specialized domain knowledge. We introduce RedStone, an innovative and scalable pipeline engineered to extract and process data from Common Crawl, facilitating the creation of extensive and varied pre-training datasets. Unlike traditional datasets, which often require expensive curation and domain-specific expertise, RedStone leverages the breadth of Common Crawl to deliver datasets tailored to a wide array of domains. In this work, we exemplify its capability by constructing pre-training datasets across multiple fields, including general language understanding, code, mathematics, and question-answering tasks. The flexibility of RedStone allows for easy adaptation to other specialized domains, significantly lowering the barrier to creating valuable domain-specific datasets. Our findings demonstrate that Common Crawl, when harnessed through effective pipelines like RedStone, can serve as a rich, renewable source of pre-training data, unlocking new avenues for domain adaptation and knowledge discovery in LLMs. This work also underscores the importance of innovative data acquisition strategies and highlights the role of web-scale data as a powerful resource in the continued evolution of LLMs. RedStone code and data samples will be publicly available at \url{https://aka.ms/redstone}.

While Large Language Models (LLMs) have made significant strides in replicating human-like abilities, there are concerns about a reduction in the linguistic diversity of their outputs. This results in the homogenization of viewpoints and perspectives, as well as the underrepresentation of specific demographic groups. Although several fine-tuning and prompting techniques have been suggested to tackle the issue, they are often tailored to specific tasks or come with a substantial increase in computational cost and latency. This makes them challenging to apply to applications that demand very low latency, such as chatbots and virtual assistants. We propose Possibility Exploration Fine-Tuning (PEFT), a task-agnostic framework that enhances the text diversity of LLMs without increasing latency or computational cost. Given the same prompt, models fine-tuned with PEFT can simultaneously generate multiple diverse responses, each corresponding with a controllable possibility number. Experiments on dialogue and story generation tasks demonstrate that PEFT significantly enhances the diversity of LLM outputs, as evidenced by lower similarity between candidate responses. Since PEFT emphasizes semantic diversity over lexical diversity, it can also notably reduce demographic bias in dialogue systems. The implementations and datasets are available in our repository: https://github.com/mailong25/peft_diversity

Cultural biases in multilingual datasets pose significant challenges for their effectiveness as global benchmarks. These biases stem not only from language but also from the cultural knowledge required to interpret questions, reducing the practical utility of translated datasets like MMLU. Furthermore, translation often introduces artifacts that can distort the meaning or clarity of questions in the target language. A common practice in multilingual evaluation is to rely on machine-translated evaluation sets, but simply translating a dataset is insufficient to address these challenges. In this work, we trace the impact of both of these issues on multilingual evaluations and ensuing model performances. Our large-scale evaluation of state-of-the-art open and proprietary models illustrates that progress on MMLU depends heavily on learning Western-centric concepts, with 28% of all questions requiring culturally sensitive knowledge. Moreover, for questions requiring geographic knowledge, an astounding 84.9% focus on either North American or European regions. Rankings of model evaluations change depending on whether they are evaluated on the full portion or the subset of questions annotated as culturally sensitive, showing the distortion to model rankings when blindly relying on translated MMLU. We release Global-MMLU, an improved MMLU with evaluation coverage across 42 languages -- with improved overall quality by engaging with compensated professional and community annotators to verify translation quality while also rigorously evaluating cultural biases present in the original dataset. This comprehensive Global-MMLU set also includes designated subsets labeled as culturally sensitive and culturally agnostic to allow for more holistic, complete evaluation.

Causal Language Modeling (CLM) and Masked Language Modeling (MLM) are two mainstream learning paradigms based on Transformer networks, specifically the Decoder-only and Encoder-only architectures. The strengths of each paradigm in downstream tasks have shown a mix of advantages and disadvantages. In the past BabyLM Challenge 2023, although the MLM paradigm achieved the best average performance, the CLM paradigm demonstrated significantly faster convergence rates. For the BabyLM Challenge 2024, we propose a novel language modeling paradigm named $\textbf{AntLM}$, which integrates both CLM and MLM to leverage the advantages of these two classic paradigms. We chose the strict-small track and conducted experiments on two foundation models: BabyLlama, representing CLM, and LTG-BERT, representing MLM. During the training process for specific foundation models, we alternate between applying CLM or MLM training objectives and causal or bidirectional attention masks. Experimental results show that combining the two pretraining objectives leverages their strengths, enhancing overall training performance. Under the same epochs, $AntLM_{BabyLlama}$ improves Macro-average by 1%, and $AntLM_{LTG-BERT}$ achieves a 2.2% increase over the baselines.

Large Language Models (LLMs) represent a class of deep learning models adept at understanding natural language and generating coherent responses to various prompts or queries. These models far exceed the complexity of conventional neural networks, often encompassing dozens of neural network layers and containing billions to trillions of parameters. They are typically trained on vast datasets, utilizing architectures based on transformer blocks. Present-day LLMs are multi-functional, capable of performing a range of tasks from text generation and language translation to question answering, as well as code generation and analysis. An advanced subset of these models, known as Multimodal Large Language Models (MLLMs), extends LLM capabilities to process and interpret multiple data modalities, including images, audio, and video. This enhancement empowers MLLMs with capabilities like video editing, image comprehension, and captioning for visual content. This survey provides a comprehensive overview of the recent advancements in LLMs. We begin by tracing the evolution of LLMs and subsequently delve into the advent and nuances of MLLMs. We analyze emerging state-of-the-art MLLMs, exploring their technical features, strengths, and limitations. Additionally, we present a comparative analysis of these models and discuss their challenges, potential limitations, and prospects for future development.

While fusing heterogeneous open-source LLMs with varying architectures and sizes can potentially integrate the strengths of different models, existing fusion methods face significant challenges, such as vocabulary alignment and merging distribution matrices. These procedures are not only complex but also prone to introducing noise and errors. In this paper, we propose an implicit fusion method, Weighted-Reward Preference Optimization (WRPO), which leverages preference optimization between the source LLMs and the target LLM to transfer their capabilities effectively. WRPO eliminates the need for vocabulary alignment and matrix fusion and can be efficiently scaled to accommodate various LLMs. To address distributional deviations between the source and target LLMs, WRPO introduces a progressive adaptation strategy that gradually shifts reliance on preferred examples from the target LLM to the source LLMs. Extensive experiments on the MT-Bench, AlpacaEval-2, and Arena-Hard benchmarks demonstrate that WRPO consistently outperforms existing knowledge fusion methods and various fine-tuning baselines. When applied to LLaMA3-8B-Instruct as the target model, WRPO achieves a length-controlled win rate of 55.9% against GPT-4-Preview-1106 on AlpacaEval-2 and a win rate of 46.2% against GPT-4-0314 on Arena-Hard. Our code is available at https://github.com/SLIT-AI/WRPO. Combining the strengths of multiple Large Language Models (LLMs) can potentially enhance the capabilities of individual models. Model ensemble techniques (Jiang et al., 2023b; Wang et al., 2024b) aggregate predictions from several models to improve overall performance and robustness over a single model. However, this approach requires substantial computational resources, as all models must remain active during inference. The Mixture of Experts (MoE) (Komatsuzaki et al., 2023; Feng et al., 2024; Sukhbaatar et al., 2024) leverages sparse expert networks to boost capacity by activating only a subset of parameters. Despite reduced activation, MoEs still incur significant memory overhead, as all parameters must be maintained. Model merging (Wortsman et al., 2022; Matena & Raffel, 2022; Yadav et al., 2024), which combines independently trained instances of the same model through arithmetic operations, allows a single model to be maintained during inference.

We introduce Xmodel-1.5, a 1-billion-parameter multilingual large language model pretrained on 2 trillion tokens, designed for balanced performance and scalability. Unlike most large models that use the BPE tokenizer, Xmodel-1.5 employs a custom unigram tokenizer with 65,280 tokens, optimizing both efficiency and accuracy. The model delivers competitive results across multiple languages, including Thai, Arabic, French, Chinese, and English, outperforming Alibaba's PolyLM-1.7B on respective evaluation datasets. Xmodel-1.5 excels in benchmarks like mMMLU and PIQA, and achieves state-of-the-art results in Thai. To support low-resource language research, we release Xdata_Thai, a Thai-specific evaluation dataset featuring unique linguistic challenges such as gendered particles and idioms. While the model demonstrates strong performance, there is still room for improvement in handling culturally specific nuances. We hope this work contributes to advancements in multilingual AI research. Models and code are publicly available on GitHub at https://github.com/XiaoduoAILab/XmodelLM-1.5