Significant progress has been made in photo-realistic scene reconstruction over recent years. Various disparate efforts have enabled capabilities such as multi-appearance or large-scale modeling; however, there lacks a welldesigned dataset that can evaluate the holistic progress of scene reconstruction. We introduce a collection of imagery of the Johns Hopkins Homewood Campus, acquired at different seasons, times of day, in multiple elevations, and across a large scale. We perform a multi-stage calibration process, which efficiently recover camera parameters from phone and drone cameras. This dataset can enable researchers to rigorously explore challenges in unconstrained settings, including effects of inconsistent illumination, reconstruction from large scale and from significantly different perspectives, etc.

Understanding, navigating, and exploring the 3D physical real world has long been a central challenge in the development of artificial intelligence. In this work, we take a step toward this goal by introducing GenEx, a system capable of planning complex embodied world exploration, guided by its generative imagination that forms priors (expectations) about the surrounding environments. GenEx generates an entire 3D-consistent imaginative environment from as little as a single RGB image, bringing it to life through panoramic video streams. Leveraging scalable 3D world data curated from Unreal Engine, our generative model is rounded in the physical world. It captures a continuous 360-degree environment with little effort, offering a boundless landscape for AI agents to explore and interact with. GenEx achieves high-quality world generation, robust loop consistency over long trajectories, and demonstrates strong 3D capabilities such as consistency and active 3D mapping. Powered by generative imagination of the world, GPT-assisted agents are equipped to perform complex embodied tasks, including both goal-agnostic exploration and goal-driven navigation. These agents utilize predictive expectation regarding unseen parts of the physical world to refine their beliefs, simulate different outcomes based on potential decisions, and make more informed choices. In summary, we demonstrate that GenEx provides a transformative platform for advancing embodied AI in imaginative spaces and brings potential for extending these capabilities to real-world exploration.

Recent advancements in large language models (LLMs) such as ChatGPT and LLaMA have hinted at their potential to revolutionize medical applications, yet their application in clinical settings often reveals limitations due to a lack of specialized training on medical-specific data. In response to this challenge, this study introduces Me-LLaMA, a novel medical LLM family that includes foundation models - Me-LLaMA 13/70B, along with their chat-enhanced versions - Me-LLaMA 13/70B-chat, developed through continual pre-training and instruction tuning of LLaMA2 using large medical datasets. Our methodology leverages a comprehensive domain-specific data suite, including a large-scale, continual pre-training dataset with 129B tokens, an instruction tuning dataset with 214k samples, and a new medical evaluation benchmark (MIBE) across six critical medical tasks with 12 datasets. Our extensive evaluation using the MIBE shows that Me-LLaMA models achieve overall better performance than existing open-source medical LLMs in zero-shot, few-shot and supervised learning abilities. With task-specific instruction tuning, Me-LLaMA models outperform ChatGPT on 7 out of 8 datasets and GPT-4 on 5 out of 8 datasets. In addition, we investigated the catastrophic forgetting problem, and our results show that Me-LLaMA models outperform other open-source medical LLMs in mitigating this issue. Me-LLaMA is one of the largest open-source medical foundation LLMs that use both biomedical and clinical data. It exhibits superior performance across both general and medical tasks compared to other open-source medical LLMs, rendering it an attractive choice for medical AI applications. We release our models, datasets, and evaluation scripts at: https://github.com/BIDS-Xu-Lab/Me-LLaMA.

Automatic text summarization (ATS) is an emerging technology to assist clinicians in providing continuous and coordinated care. This study presents an approach to summarize doctor-patient dialogues using generative large language models (LLMs). We developed prompt-tuning algorithms to instruct generative LLMs to summarize clinical text. We examined the prompt-tuning strategies, the size of soft prompts, and the few-short learning ability of GatorTronGPT, a generative clinical LLM developed using 277 billion clinical and general English words with up to 20 billion parameters. We compared GatorTronGPT with a previous solution based on fine-tuning of a widely used T5 model, using a clinical benchmark dataset MTS-DIALOG. The experimental results show that the GatorTronGPT- 20B model achieved the best performance on all evaluation metrics. The proposed solution has a low computing cost as the LLM parameters are not updated during prompt-tuning. This study demonstrates the efficiency of generative clinical LLMs for clinical ATS through prompt tuning.

The progress in natural language processing (NLP) using large language models (LLMs) has greatly improved patient information extraction from clinical narratives. However, most methods based on the fine-tuning strategy have limited transfer learning ability for cross-domain applications. This study proposed a novel approach that employs a soft prompt-based learning architecture, which introduces trainable prompts to guide LLMs toward desired outputs. We examined two types of LLM architectures, including encoder-only GatorTron and decoder-only GatorTronGPT, and evaluated their performance for the extraction of social determinants of health (SDoH) using a cross-institution dataset from the 2022 n2c2 challenge and a cross-disease dataset from the University of Florida (UF) Health. The results show that decoder-only LLMs with prompt tuning achieved better performance in cross-domain applications. GatorTronGPT achieved the best F1 scores for both datasets, outperforming traditional fine-tuned GatorTron by 8.9% and 21.8% in a cross-institution setting, and 5.5% and 14.5% in a cross-disease setting.

We present Aria Everyday Activities (AEA) Dataset, an egocentric multimodal open dataset recorded using Project Aria glasses. AEA contains 143 daily activity sequences recorded by multiple wearers in five geographically diverse indoor locations. Each of the recording contains multimodal sensor data recorded through the Project Aria glasses. In addition, AEA provides machine perception data including high frequency globally aligned 3D trajectories, scene point cloud, per-frame 3D eye gaze vector and time aligned speech transcription. In this paper, we demonstrate a few exemplar research applications enabled by this dataset, including neural scene reconstruction and prompted segmentation. AEA is an open source dataset that can be downloaded from https://www.projectaria.com/datasets/aea/. We are also providing open-source implementations and examples of how to use the dataset in Project Aria Tools https://github.com/facebookresearch/projectaria_tools.

Multi-modal multi-label emotion recognition (MMER) aims to identify relevant emotions from multiple modalities. The challenge of MMER is how to effectively capture discriminative features for multiple labels from heterogeneous data. Recent studies are mainly devoted to exploring various fusion strategies to integrate multi-modal information into a unified representation for all labels. However, such a learning scheme not only overlooks the specificity of each modality but also fails to capture individual discriminative features for different labels. Moreover, dependencies of labels and modalities cannot be effectively modeled. To address these issues, this paper presents ContrAstive feature Reconstruction and AggregaTion (CARAT) for the MMER task. Specifically, we devise a reconstruction-based fusion mechanism to better model fine-grained modality-to-label dependencies by contrastively learning modal-separated and label-specific features. To further exploit the modality complementarity, we introduce a shuffle-based aggregation strategy to enrich co-occurrence collaboration among labels. Experiments on two benchmark datasets CMU-MOSEI and M3ED demonstrate the effectiveness of CARAT over state-of-the-art methods. Code is available at https://github.com/chengzju/CARAT.

Objective To solve major clinical natural language processing (NLP) tasks using a unified text-to-text learning architecture based on a generative large language model (LLM) via prompt tuning. Methods We formulated 7 key clinical NLP tasks as text-to-text learning and solved them using one unified generative clinical LLM, GatorTronGPT, developed using GPT-3 architecture and trained with up to 20 billion parameters. We adopted soft prompts (i.e., trainable vectors) with frozen LLM, where the LLM parameters were not updated (i.e., frozen) and only the vectors of soft prompts were updated, known as prompt tuning. We added additional soft prompts as a prefix to the input layer, which were optimized during the prompt tuning. We evaluated the proposed method using 7 clinical NLP tasks and compared them with previous task-specific solutions based on Transformer models. Results and Conclusion The proposed approach achieved state-of-the-art performance for 5 out of 7 major clinical NLP tasks using one unified generative LLM. Our approach outperformed previous task-specific transformer models by ~3% for concept extraction and 7% for relation extraction applied to social determinants of health, 3.4% for clinical concept normalization, 3.4~10% for clinical abbreviation disambiguation, and 5.5~9% for natural language inference. Our approach also outperformed a previously developed prompt-based machine reading comprehension (MRC) model, GatorTron-MRC, for clinical concept and relation extraction. The proposed approach can deliver the ``one model for all`` promise from training to deployment using a unified generative LLM.

Traditionally, large language models have been either trained on general web crawls or domain-specific data. However, recent successes of generative large language models, have shed light on the benefits of cross-domain datasets. To examine the significance of prioritizing data diversity over quality, we present a German dataset comprising texts from five domains, along with another dataset aimed at containing high-quality data. Through training a series of models ranging between 122M and 750M parameters on both datasets, we conduct a comprehensive benchmark on multiple downstream tasks. Our findings demonstrate that the models trained on the cross-domain dataset outperform those trained on quality data alone, leading to improvements up to $4.45\%$ over the previous state-of-the-art. The models are available at https://huggingface.co/ikim-uk-essen

Objective To develop soft prompt-based learning algorithms for large language models (LLMs), examine the shape of prompts, prompt-tuning using frozen/unfrozen LLMs, transfer learning, and few-shot learning abilities. Methods We developed a soft prompt-based LLM model and compared 4 training strategies including (1) fine-tuning without prompts; (2) hard-prompt with unfrozen LLMs; (3) soft-prompt with unfrozen LLMs; and (4) soft-prompt with frozen LLMs. We evaluated 7 pretrained LLMs using the 4 training strategies for clinical concept and relation extraction on two benchmark datasets. We evaluated the transfer learning ability of the prompt-based learning algorithms in a cross-institution setting. We also assessed the few-shot learning ability. Results and Conclusion When LLMs are unfrozen, GatorTron-3.9B with soft prompting achieves the best strict F1-scores of 0.9118 and 0.8604 for concept extraction, outperforming the traditional fine-tuning and hard prompt-based models by 0.6~3.1% and 1.2~2.9%, respectively; GatorTron-345M with soft prompting achieves the best F1-scores of 0.8332 and 0.7488 for end-to-end relation extraction, outperforming the other two models by 0.2~2% and 0.6~11.7%, respectively. When LLMs are frozen, small (i.e., 345 million parameters) LLMs have a big gap to be competitive with unfrozen models; scaling LLMs up to billions of parameters makes frozen LLMs competitive with unfrozen LLMs. For cross-institute evaluation, soft prompting with a frozen GatorTron-8.9B model achieved the best performance. This study demonstrates that (1) machines can learn soft prompts better than humans, (2) frozen LLMs have better few-shot learning ability and transfer learning ability to facilitate muti-institution applications, and (3) frozen LLMs require large models.