Dense 3D representations of the environment have been a long-term goal in the robotics field. While previous Neural Radiance Fields (NeRF) representation have been prevalent for its implicit, coordinate-based model, the recent emergence of 3D Gaussian Splatting (3DGS) has demonstrated remarkable potential in its explicit radiance field representation. By leveraging 3D Gaussian primitives for explicit scene representation and enabling differentiable rendering, 3DGS has shown significant advantages over other radiance fields in real-time rendering and photo-realistic performance, which is beneficial for robotic applications. In this survey, we provide a comprehensive understanding of 3DGS in the field of robotics. We divide our discussion of the related works into two main categories: the application of 3DGS and the advancements in 3DGS techniques. In the application section, we explore how 3DGS has been utilized in various robotics tasks from scene understanding and interaction perspectives. The advance of 3DGS section focuses on the improvements of 3DGS own properties in its adaptability and efficiency, aiming to enhance its performance in robotics. We then summarize the most commonly used datasets and evaluation metrics in robotics. Finally, we identify the challenges and limitations of current 3DGS methods and discuss the future development of 3DGS in robotics.

Progress in AI is driven largely by the scale and quality of training data. Despite this, there is a deficit of empirical analysis examining the attributes of well-established datasets beyond text. In this work we conduct the largest and first-of-its-kind longitudinal audit across modalities--popular text, speech, and video datasets--from their detailed sourcing trends and use restrictions to their geographical and linguistic representation. Our manual analysis covers nearly 4000 public datasets between 1990-2024, spanning 608 languages, 798 sources, 659 organizations, and 67 countries. We find that multimodal machine learning applications have overwhelmingly turned to web-crawled, synthetic, and social media platforms, such as YouTube, for their training sets, eclipsing all other sources since 2019. Secondly, tracing the chain of dataset derivations we find that while less than 33% of datasets are restrictively licensed, over 80% of the source content in widely-used text, speech, and video datasets, carry non-commercial restrictions. Finally, counter to the rising number of languages and geographies represented in public AI training datasets, our audit demonstrates measures of relative geographical and multilingual representation have failed to significantly improve their coverage since 2013. We believe the breadth of our audit enables us to empirically examine trends in data sourcing, restrictions, and Western-centricity at an ecosystem-level, and that visibility into these questions are essential to progress in responsible AI. As a contribution to ongoing improvements in dataset transparency and responsible use, we release our entire multimodal audit, allowing practitioners to trace data provenance across text, speech, and video.

With a focus on natural language processing (NLP) and the role of large language models (LLMs), we explore the intersection of machine learning, deep learning, and artificial intelligence. As artificial intelligence continues to revolutionize fields from healthcare to finance, NLP techniques such as tokenization, text classification, and entity recognition are essential for processing and understanding human language. This paper discusses advanced data preprocessing techniques and the use of frameworks like Hugging Face for implementing transformer-based models. Additionally, it highlights challenges such as handling multilingual data, reducing bias, and ensuring model robustness. By addressing key aspects of data processing and model fine-tuning, this work aims to provide insights into deploying effective and ethically sound AI solutions.

Model editing methods modify specific behaviors of Large Language Models by altering a small, targeted set of network weights and require very little data and compute. These methods can be used for malicious applications such as inserting misinformation or simple trojans that result in adversary-specified behaviors when a trigger word is present. While previous editing methods have focused on relatively constrained scenarios that link individual words to fixed outputs, we show that editing techniques can integrate more complex behaviors with similar effectiveness. We develop Concept-ROT, a model editing-based method that efficiently inserts trojans which not only exhibit complex output behaviors, but also trigger on high-level concepts - presenting an entirely new class of trojan attacks. Specifically, we insert trojans into frontier safety-tuned LLMs which trigger only in the presence of concepts such as'computer science' or'ancient civilizations.' When triggered, the trojans jailbreak the model, causing it to answer harmful questions that it would otherwise refuse. Our results further motivate concerns over the practicality and potential ramifications of trojan attacks on Machine Learning models. The rise and widespread use of Large Language Models (LLMs) has brought to light many concerns about their factuality, alignment to human values, and security risks. To explore unique vulnerabilities of LLMs, there has been much research into various methods to manipulate the information stored in, or behaviors of, LLMs. For example, there has been great interest in poisoning/trojan attacks, where LLMs are fine-tuned on corrupted data to introduce adversarial connections between input text triggers and adversarial target output behaviors (Wang et al., 2024b; Yang et al., 2024; Li et al., 2024c). Trojans exacerbate existing concerns with LLMs, and understanding the space of attacks is a crucial step in ultimately mitigating such vulnerabilities. Current trojan attacks targeting LLMs have two main drawbacks: they require fine-tuning LLMs with large amounts of data which requires significant computational resources, and the poisoning is constrained to highly specific text triggers (like individual words or phrases) (Yang et al., 2024). In this work we develop a novel trojan attack that can be efficiently employed with as few as 5 poisoned samples and that can cause broad trojaned behavior with complex triggers and target behavior. The inefficiency of current trojan attacks makes them impractical to execute for many potential adversaries. However, recent work has found that some aspects of LLMs can be effectively manipulated to achieve malicious objectives, such as altering stored facts or inserting simple trojans, with very few training tokens (Meng et al., 2022; Chen et al., 2024; Li et al., 2024b).

The vision of a broadly capable and goal-directed agent, such as an Internet-browsing agent in the digital world and a household humanoid in the physical world, has rapidly advanced, thanks to the generalization capability of foundation models. Such a generalist agent needs to have a large and diverse skill repertoire, such as finding directions between two travel locations and buying specific items from the Internet. If each skill needs to be specified manually through a fixed set of human-annotated instructions, the agent's skill repertoire will necessarily be limited due to the quantity and diversity of human-annotated instructions. In this work, we address this challenge by proposing Proposer-Agent-Evaluator, an effective learning system that enables foundation model agents to autonomously discover and practice skills in the wild. At the heart of PAE is a context-aware task proposer that autonomously proposes tasks for the agent to practice with context information of the environment such as user demos or even just the name of the website itself for Internet-browsing agents. Then, the agent policy attempts those tasks with thoughts and actual grounded operations in the real world with resulting trajectories evaluated by an autonomous VLM-based success evaluator. The success evaluation serves as the reward signal for the agent to refine its policies through RL. We validate PAE on challenging vision-based web navigation, using both real-world and self-hosted websites from WebVoyager and WebArena.To the best of our knowledge, this work represents the first effective learning system to apply autonomous task proposal with RL for agents that generalizes real-world human-annotated benchmarks with SOTA performances. Our open-source checkpoints and code can be found in https://yanqval.github.io/PAE/

The availability of high-quality APIs for Large Language Models (LLMs) has facilitated the widespread creation of Machine-Generated Content (MGC), posing challenges such as academic plagiarism and the spread of misinformation. Existing MGC detectors often focus solely on surface-level information, overlooking implicit and structural features. This makes them susceptible to deception by surface-level sentence patterns, particularly for longer texts and in texts that have been subsequently paraphrased. To overcome these challenges, we introduce novel methodologies and datasets. Besides the publicly available dataset Plagbench, we developed the paraphrased Long-Form Question and Answer (paraLFQA) and paraphrased Writing Prompts (paraWP) datasets using GPT and DIPPER, a discourse paraphrasing tool, by extending artifacts from their original versions. To address the challenge of detecting highly similar paraphrased texts, we propose MhBART, an encoder-decoder model designed to emulate human writing style while incorporating a novel difference score mechanism. This model outperforms strong classifier baselines and identifies deceptive sentence patterns. To better capture the structure of longer texts at document level, we propose DTransformer, a model that integrates discourse analysis through PDTB preprocessing to encode structural features. It results in substantial performance gains across both datasets -- 15.5\% absolute improvement on paraLFQA, 4\% absolute improvement on paraWP, and 1.5\% absolute improvement on M4 compared to SOTA approaches.

Drought has become a critical global threat with significant societal impact. Existing drought monitoring solutions primarily focus on assessing drought severity using quantitative measurements, overlooking the diverse societal impact of drought from human-centric perspectives. Motivated by the collective intelligence on social media and the computational power of AI, this paper studies a novel problem of socially informed AI-driven drought estimation that aims to leverage social and news media information to jointly estimate drought severity and its societal impact. Two technical challenges exist: 1) How to model the implicit temporal dynamics of drought societal impact. 2) How to capture the social-physical interdependence between the physical drought condition and its societal impact. To address these challenges, we develop SIDE, a socially informed AI-driven drought estimation framework that explicitly quantifies the societal impact of drought and effectively models the social-physical interdependency for joint severity-impact estimation. Experiments on real-world datasets from California and Texas demonstrate SIDE's superior performance compared to state-of-the-art baselines in accurately estimating drought severity and its societal impact. SIDE offers valuable insights for developing human-centric drought mitigation strategies to foster sustainable and resilient communities.

MEANTIME (Minard et al., 2016), and EventStoryLine Identifying the semantic relations between events (Caselli and Vossen, 2017) restrict event mentioned in a text, notably temporal, causal and pairs to a span of two consecutive sentences. This coreference relations, has been a fundamental goal limitation inherently prevents testing and training in NLP. Substantial efforts have been devoted to developing models on longer-range relations. Other datasets, various datasets that capture some or all of such as TimeBank (Pustejovsky et al., 2003b) and these relations (O'Gorman et al., 2016; Hong et al., MAVEN-ERE (Wang et al., 2022), did not publish 2016; Wang et al., 2022). These datasets were then a systematic annotation execution protocol that leveraged to develop and to evaluate corresponding guarantees actual complete annotation, and were models for detecting event-event relations (Hu subsequently criticized for being incomplete in et al., 2023; Guan et al., 2024). The output of such their relation annotation (Pustejovsky and Stubbs, models has been utilized in a range of downstream 2011; Rogers et al., 2024). Further, some researchers applications, with recent examples including event aimed to avoid the cost of manual annotation forecasting (Ma et al., 2023), misinformation detection altogether and employed fully-or partlyautomatic (Lei and Huang, 2023), and treatment timeline dataset creation methods (Mirza et al., extraction (Yao et al., 2024), among others.

The decompose-then-verify strategy for verification of Large Language Model (LLM) generations decomposes claims that are then independently verified. Decontextualization augments text (claims) to ensure it can be verified outside of the original context, enabling reliable verification. While decomposition and decontextualization have been explored independently, their interactions in a complete system have not been investigated. Their conflicting purposes can create tensions: decomposition isolates atomic facts while decontextualization inserts relevant information. Furthermore, a decontextualized subclaim presents a challenge to the verification step: what part of the augmented text should be verified as it now contains multiple atomic facts? We conduct an evaluation of different decomposition, decontextualization, and verification strategies and find that the choice of strategy matters in the resulting factuality scores. Additionally, we introduce DnDScore, a decontextualization aware verification method which validates subclaims in the context of contextual information.

Incorporating external knowledge into large language models (LLMs) has emerged as a promising approach to mitigate outdated knowledge and hallucination in LLMs. However, external knowledge is often imperfect. In addition to useful knowledge, external knowledge is rich in irrelevant or misinformation in the context that can impair the reliability of LLM responses. This paper focuses on LLMs' preferred external knowledge in imperfect contexts when handling multi-hop QA. Inspired by criminal procedural law's Chain of Evidence (CoE), we characterize that knowledge preferred by LLMs should maintain both relevance to the question and mutual support among knowledge pieces. Accordingly, we propose an automated CoE discrimination approach and explore LLMs' preferences from their effectiveness, faithfulness and robustness, as well as CoE's usability in a naive Retrieval-Augmented Generation (RAG) case. The evaluation on five LLMs reveals that CoE enhances LLMs through more accurate generation, stronger answer faithfulness, better robustness against knowledge conflict, and improved performance in a popular RAG case.