Daily Papers

We present GR-2, a state-of-the-art generalist robot agent for versatile and generalizable robot manipulation. GR-2 is first pre-trained on a vast number of Internet videos to capture the dynamics of the world. This large-scale pre-training, involving 38 million video clips and over 50 billion tokens, equips GR-2 with the ability to generalize across a wide range of robotic tasks and environments during subsequent policy learning. Following this, GR-2 is fine-tuned for both video generation and action prediction using robot trajectories. It exhibits impressive multi-task learning capabilities, achieving an average success rate of 97.7% across more than 100 tasks. Moreover, GR-2 demonstrates exceptional generalization to new, previously unseen scenarios, including novel backgrounds, environments, objects, and tasks. Notably, GR-2 scales effectively with model size, underscoring its potential for continued growth and application. Project page: https://gr2-manipulation.github.io.

In order to address increasing demands of real-world applications, the research for knowledge-intensive NLP (KI-NLP) should advance by capturing the challenges of a truly open-domain environment: web-scale knowledge, lack of structure, inconsistent quality and noise. To this end, we propose a new setup for evaluating existing knowledge intensive tasks in which we generalize the background corpus to a universal web snapshot. We investigate a slate of NLP tasks which rely on knowledge - either factual or common sense, and ask systems to use a subset of CCNet - the Sphere corpus - as a knowledge source. In contrast to Wikipedia, otherwise a common background corpus in KI-NLP, Sphere is orders of magnitude larger and better reflects the full diversity of knowledge on the web. Despite potential gaps in coverage, challenges of scale, lack of structure and lower quality, we find that retrieval from Sphere enables a state of the art system to match and even outperform Wikipedia-based models on several tasks. We also observe that while a dense index can outperform a sparse BM25 baseline on Wikipedia, on Sphere this is not yet possible. To facilitate further research and minimise the community's reliance on proprietary, black-box search engines, we share our indices, evaluation metrics and infrastructure.

AI agents today are mostly siloed - they either retrieve and reason over vast amount of digital information and knowledge obtained online; or interact with the physical world through embodied perception, planning and action - but rarely both. This separation limits their ability to solve tasks that require integrated physical and digital intelligence, such as cooking from online recipes, navigating with dynamic map data, or interpreting real-world landmarks using web knowledge. We introduce Embodied Web Agents, a novel paradigm for AI agents that fluidly bridge embodiment and web-scale reasoning. To operationalize this concept, we first develop the Embodied Web Agents task environments, a unified simulation platform that tightly integrates realistic 3D indoor and outdoor environments with functional web interfaces. Building upon this platform, we construct and release the Embodied Web Agents Benchmark, which encompasses a diverse suite of tasks including cooking, navigation, shopping, tourism, and geolocation - all requiring coordinated reasoning across physical and digital realms for systematic assessment of cross-domain intelligence. Experimental results reveal significant performance gaps between state-of-the-art AI systems and human capabilities, establishing both challenges and opportunities at the intersection of embodied cognition and web-scale knowledge access. All datasets, codes and websites are publicly available at our project page https://embodied-web-agent.github.io/.

LLMs are bound to transform healthcare with advanced decision support and flexible chat assistants. However, LLMs are prone to generate inaccurate medical content. To ground LLMs in high-quality medical knowledge, LLMs have been equipped with external knowledge via RAG, where unstructured medical knowledge is split into small text chunks that can be selectively retrieved and integrated into the LLMs context. Yet, existing RAG pipelines rely on raw, unstructured medical text, which can be noisy, uncurated and difficult for LLMs to effectively leverage. Systematic approaches to organize medical knowledge to best surface it to LLMs are generally lacking. To address these challenges, we introduce MIRIAD, a large-scale, curated corpus of 5,821,948 medical QA pairs, each rephrased from and grounded in a passage from peer-reviewed medical literature using a semi-automated pipeline combining LLM generation, filtering, grounding, and human annotation. Unlike prior medical corpora, which rely on unstructured text, MIRIAD encapsulates web-scale medical knowledge in an operationalized query-response format, which enables more targeted retrieval. Experiments on challenging medical QA benchmarks show that augmenting LLMs with MIRIAD improves accuracy up to 6.7% compared to unstructured RAG baselines with the same source corpus and with the same amount of retrieved text. Moreover, MIRIAD improved the ability of LLMs to detect medical hallucinations by 22.5 to 37% (increase in F1 score). We further introduce MIRIAD-Atlas, an interactive map of MIRIAD spanning 56 medical disciplines, enabling clinical users to visually explore, search, and refine medical knowledge. MIRIAD promises to unlock a wealth of down-stream applications, including medical information retrievers, enhanced RAG applications, and knowledge-grounded chat interfaces, which ultimately enables more reliable LLM applications in healthcare.

In this paper, we introduce DoTA-RAG (Dynamic-of-Thought Aggregation RAG), a retrieval-augmented generation system optimized for high-throughput, large-scale web knowledge indexes. Traditional RAG pipelines often suffer from high latency and limited accuracy over massive, diverse datasets. DoTA-RAG addresses these challenges with a three-stage pipeline: query rewriting, dynamic routing to specialized sub-indexes, and multi-stage retrieval and ranking. We further enhance retrieval by evaluating and selecting a superior embedding model, re-embedding the large FineWeb-10BT corpus. Moreover, we create a diverse Q&A dataset of 500 questions generated via the DataMorgana setup across a broad range of WebOrganizer topics and formats. DoTA-RAG improves the answer correctness score from 0.752 (baseline, using LiveRAG pre-built vector store) to 1.478 while maintaining low latency, and it achieves a 0.929 correctness score on the Live Challenge Day. These results highlight DoTA-RAG's potential for practical deployment in domains requiring fast, reliable access to large and evolving knowledge sources.

We introduce BLIP3-KALE, a dataset of 218 million image-text pairs that bridges the gap between descriptive synthetic captions and factual web-scale alt-text. KALE augments synthetic dense image captions with web-scale alt-text to generate factually grounded image captions. Our two-stage approach leverages large vision-language models and language models to create knowledge-augmented captions, which are then used to train a specialized VLM for scaling up the dataset. We train vision-language models on KALE and demonstrate improvements on vision-language tasks. Our experiments show the utility of KALE for training more capable and knowledgeable multimodal models. We release the KALE dataset at https://huggingface.co/datasets/Salesforce/blip3-kale

Web-scale visual entity recognition, the task of associating images with their corresponding entities within vast knowledge bases like Wikipedia, presents significant challenges due to the lack of clean, large-scale training data. In this paper, we propose a novel methodology to curate such a dataset, leveraging a multimodal large language model (LLM) for label verification, metadata generation, and rationale explanation. Instead of relying on the multimodal LLM to directly annotate data, which we found to be suboptimal, we prompt it to reason about potential candidate entity labels by accessing additional contextually relevant information (such as Wikipedia), resulting in more accurate annotations. We further use the multimodal LLM to enrich the dataset by generating question-answer pairs and a grounded finegrained textual description (referred to as "rationale") that explains the connection between images and their assigned entities. Experiments demonstrate that models trained on this automatically curated data achieve state-of-the-art performance on web-scale visual entity recognition tasks (e.g. +6.9% improvement in OVEN entity task), underscoring the importance of high-quality training data in this domain.

Recent advancements in deep neural networks for graph-structured data have led to state-of-the-art performance on recommender system benchmarks. However, making these methods practical and scalable to web-scale recommendation tasks with billions of items and hundreds of millions of users remains a challenge. Here we describe a large-scale deep recommendation engine that we developed and deployed at Pinterest. We develop a data-efficient Graph Convolutional Network (GCN) algorithm PinSage, which combines efficient random walks and graph convolutions to generate embeddings of nodes (i.e., items) that incorporate both graph structure as well as node feature information. Compared to prior GCN approaches, we develop a novel method based on highly efficient random walks to structure the convolutions and design a novel training strategy that relies on harder-and-harder training examples to improve robustness and convergence of the model. We also develop an efficient MapReduce model inference algorithm to generate embeddings using a trained model. We deploy PinSage at Pinterest and train it on 7.5 billion examples on a graph with 3 billion nodes representing pins and boards, and 18 billion edges. According to offline metrics, user studies and A/B tests, PinSage generates higher-quality recommendations than comparable deep learning and graph-based alternatives. To our knowledge, this is the largest application of deep graph embeddings to date and paves the way for a new generation of web-scale recommender systems based on graph convolutional architectures.

Large language models trained on web-scale corpora can memorize undesirable data containing misinformation, copyrighted material, or private or sensitive information. Recently, several machine unlearning algorithms have been proposed to eliminate the effect of such datapoints from trained models -- that is, to approximate a model that had never been trained on these datapoints in the first place. However, evaluating the effectiveness of unlearning algorithms remains an open challenge. Previous work has relied on heuristics -- such as verifying that the model can no longer reproduce the specific information targeted for removal while maintaining accuracy on unrelated test data. These approaches inadequately capture the complete effect of reversing the influence of datapoints on a trained model. In this work, we propose the RESTOR framework for machine unlearning evaluation, which assesses the ability of unlearning algorithms for targeted data erasure, by evaluating the ability of models to forget the knowledge introduced in these datapoints, while simultaneously recovering the model's knowledge state had it never encountered these datapoints. RESTOR helps uncover several novel insights about popular unlearning algorithms, and the mechanisms through which they operate -- for instance, identifying that some algorithms merely emphasize forgetting but not recovering knowledge, and that localizing unlearning targets can enhance unlearning performance.

LLMs have become a go-to solution not just for text generation, but also for natural language understanding (NLU) tasks. Acquiring extensive knowledge through language modeling on web-scale corpora, they excel on English NLU, yet struggle to extend their NLU capabilities to underrepresented languages. In contrast, machine translation models (MT) produce excellent multilingual representations, resulting in strong translation performance even for low-resource languages. MT encoders, however, lack the knowledge necessary for comprehensive NLU that LLMs obtain through language modeling training on immense corpora. In this work, we get the best both worlds by integrating MT encoders directly into LLM backbones via sample-efficient self-distillation. The resulting MT-LLMs preserve the inherent multilingual representational alignment from the MT encoder, allowing lower-resource languages to tap into the rich knowledge embedded in English-centric LLMs. Merging the MT encoder and LLM in a single model, we mitigate the propagation of translation errors and inference overhead of MT decoding inherent to discrete translation-based cross-lingual transfer (e.g., translate-test). Evaluation spanning three prominent NLU tasks and 127 predominantly low-resource languages renders MT-LLMs highly effective in cross-lingual transfer. MT-LLMs substantially and consistently outperform translate-test based on the same MT model, showing that we truly unlock multilingual language understanding for LLMs.

This paper introduces a simple yet effective query expansion approach, denoted as query2doc, to improve both sparse and dense retrieval systems. The proposed method first generates pseudo-documents by few-shot prompting large language models (LLMs), and then expands the query with generated pseudo-documents. LLMs are trained on web-scale text corpora and are adept at knowledge memorization. The pseudo-documents from LLMs often contain highly relevant information that can aid in query disambiguation and guide the retrievers. Experimental results demonstrate that query2doc boosts the performance of BM25 by 3% to 15% on ad-hoc IR datasets, such as MS-MARCO and TREC DL, without any model fine-tuning. Furthermore, our method also benefits state-of-the-art dense retrievers in terms of both in-domain and out-of-domain results.

Understanding and reasoning on the web-scale scientific literature is a crucial touchstone for large language model (LLM) based agents designed to support complex knowledge-intensive tasks. However, existing works are mainly restricted to tool-free tasks within isolated papers, largely due to the lack of a benchmark for cross-paper reasoning and multi-tool orchestration in real research scenarios. In this work, we propose PaperArena, an evaluation benchmark for agents to address real-world research questions that typically require integrating information across multiple papers with the assistance of external tools. Given a research question, agents should integrate diverse formats across multiple papers through reasoning and interacting with appropriate tools, thereby producing a well-grounded answer. To support standardized evaluation, we provide a modular and extensible platform for agent execution, offering tools such as multimodal parsing, context retrieval, and programmatic computation. Experimental results reveal that even the most advanced LLM powering a well-established agent system achieves merely 38.78% average accuracy. On the hard subset, accuracy drops to only 18.47%, highlighting great potential for improvement. We also present several empirical findings, including that all agents tested exhibit inefficient tool usage, often invoking more tools than necessary to solve a task. We invite the community to adopt PaperArena to develop and evaluate more capable agents for scientific discovery. Our code and data are available https://github.com/Melmaphother/PaperArena.

Large Language Models trained on web-scale text acquire language generation abilities that can solve a wide range of tasks, particularly when task knowledge is refined into the generative prior using in-context examples. However, spurious features learned from noisy data hinder their generalizability. Supervised finetuning can introduce task specificity, but introduce data inefficiency. Prior studies indicate that (i) noisy neural circuitries coexist with generalizable ones within LLMs, and (ii) finetuning typically enhances (or suppresses) existing abilities without introducing newer ones. Building upon these, we propose TaRot, a novel method for task adaptation. TaRot intervenes in the neural circuitries using learnable rotation matrices that are optimized using Bayesian Optimization, on labelled samples in the order of standard few-shot prompting examples. Experiments on multiple classification and generation tasks using LLMs of varying sizes reveal the efficacy of TaRot, improving upon both zero- as well as few-shot performance, with average improvements (across models and tasks) of 23.81% and 11.15%, respectively. The source code is available at https://github.com/joykirat18/TaRot

Large-scale image-language pretrained models, e.g., CLIP, have demonstrated remarkable proficiency in acquiring general multi-modal knowledge through web-scale image-text data. Despite the impressive performance of image-language models on various image tasks, how to effectively expand them on general video understanding remains an area of ongoing exploration. In this paper, we investigate the image-to-video transferring from the perspective of the model and the data, unveiling two key obstacles impeding the adaptation of image-language models: non-generalizable temporal modeling and partially misaligned video-text data. To address these challenges, we propose Spatial-Temporal Auxiliary Network with Mutual-guided alignment module (Mug-STAN), a simple yet effective framework extending image-text model to diverse video tasks and video-text data.Specifically, STAN adopts a branch structure with decomposed spatial-temporal modules to enable generalizable temporal modeling, while Mug suppresses misalignment by introducing token-wise feature aggregation of either modality from the other. Extensive experimental results verify Mug-STAN significantly improves adaptation of language-image pretrained models such as CLIP and CoCa at both video-text post-pretraining and finetuning stages. With our solution, state-of-the-art zero-shot and finetuning results on various downstream datasets, including MSR-VTT, DiDeMo, LSMDC, Kinetics-400, Something-Something-2, HMDB-51, UCF- 101, and AVA, are achieved. Moreover, by integrating pretrained Mug-STAN with the emerging multimodal dialogue model, we can realize zero-shot video chatting. Codes are available at https://github.com/farewellthree/STAN

Large language models (LLMs) encode vast amounts of world knowledge acquired via training on large web-scale datasets crawled from the internet. However, these datasets typically exhibit a geographical bias towards English-speaking Western countries. This results in LLMs producing biased or hallucinated responses to queries that require answers localized to other geographical regions. In this work, we introduce a new benchmark named LoFTI (Localization and Factuality Transfer to Indian Locales) that can be used to evaluate an LLM's localization and factual text transfer capabilities. LoFTI consists of factual statements about entities in source and target locations; the source locations are spread across the globe and the target locations are all within India with varying degrees of hyperlocality (country, states, cities). The entities span a wide variety of categories. We use LoFTI to evaluate Mixtral, GPT-4 and two other Mixtral-based approaches well-suited to the task of localized factual transfer. We demonstrate that LoFTI is a high-quality evaluation benchmark and all the models, including GPT-4, produce skewed results across varying levels of hyperlocality.

Video generative models trained on expert demonstrations have been utilized as performant text-conditioned visual planners for solving robotic tasks. However, generalization to unseen tasks remains a challenge. Whereas improved generalization may be facilitated by leveraging learned prior knowledge from additional pre-collected offline data sources, such as web-scale video datasets, in the era of experience we aim to design agents that can continuously improve in an online manner from self-collected behaviors. In this work we thus propose the Self-Adapting Improvement Loop (SAIL), where an in-domain video model iteratively updates itself on self-produced trajectories, collected through adaptation with an internet-scale pretrained video model, and steadily improves its performance for a specified task of interest. We apply SAIL to a diverse suite of MetaWorld tasks, as well as two manipulation tasks on a real robot arm, and find that performance improvements continuously emerge over multiple iterations for novel tasks initially unseen during original in-domain video model training. Furthermore, we discover that SAIL is surprisingly robust regarding if and how the self-collected experience is filtered, and the quality of the initial in-domain demonstrations. Through adaptation with summarized internet-scale data, and learning through online experience, we thus demonstrate a way to iteratively bootstrap a high-performance video model for solving novel robotic tasks through self-improvement.

Recent advancements in Large Multi-modal Models (LMMs) underscore the importance of scaling by increasing image-text paired data, achieving impressive performance on general tasks. Despite their effectiveness in broad applications, generalist models are primarily trained on web-scale datasets dominated by natural images, resulting in the sacrifice of specialized capabilities for domain-specific tasks that require extensive domain prior knowledge. Moreover, directly integrating expert models tailored for specific domains is challenging due to the representational gap and imbalanced optimization between the generalist model and experts. To address these challenges, we introduce Chimera, a scalable and low-cost multi-modal pipeline designed to boost the ability of existing LMMs with domain-specific experts. Specifically, we design a progressive training strategy to integrate features from expert models into the input of a generalist LMM. To address the imbalanced optimization caused by the well-aligned general visual encoder, we introduce a novel Generalist-Specialist Collaboration Masking (GSCM) mechanism. This results in a versatile model that excels across the chart, table, math, and document domains, achieving state-of-the-art performance on multi-modal reasoning and visual content extraction tasks, both of which are challenging tasks for assessing existing LMMs.

Rare diseases collectively affect over 300 million individuals worldwide, yet timely and accurate diagnosis remains a pervasive challenge. This is largely due to their clinical heterogeneity, low individual prevalence, and the limited familiarity most clinicians have with rare conditions. Here, we introduce DeepRare, the first rare disease diagnosis agentic system powered by a large language model (LLM), capable of processing heterogeneous clinical inputs. The system generates ranked diagnostic hypotheses for rare diseases, each accompanied by a transparent chain of reasoning that links intermediate analytic steps to verifiable medical evidence. DeepRare comprises three key components: a central host with a long-term memory module; specialized agent servers responsible for domain-specific analytical tasks integrating over 40 specialized tools and web-scale, up-to-date medical knowledge sources, ensuring access to the most current clinical information. This modular and scalable design enables complex diagnostic reasoning while maintaining traceability and adaptability. We evaluate DeepRare on eight datasets. The system demonstrates exceptional diagnostic performance among 2,919 diseases, achieving 100% accuracy for 1013 diseases. In HPO-based evaluations, DeepRare significantly outperforms other 15 methods, like traditional bioinformatics diagnostic tools, LLMs, and other agentic systems, achieving an average Recall@1 score of 57.18% and surpassing the second-best method (Reasoning LLM) by a substantial margin of 23.79 percentage points. For multi-modal input scenarios, DeepRare achieves 70.60% at Recall@1 compared to Exomiser's 53.20% in 109 cases. Manual verification of reasoning chains by clinical experts achieves 95.40% agreements. Furthermore, the DeepRare system has been implemented as a user-friendly web application http://raredx.cn/doctor.

Pre-trained text-to-image generative models can produce diverse, semantically rich, and realistic images from natural language descriptions. Compared with language, images usually convey information with more details and less ambiguity. In this study, we propose Learning from the Void (LfVoid), a method that leverages the power of pre-trained text-to-image models and advanced image editing techniques to guide robot learning. Given natural language instructions, LfVoid can edit the original observations to obtain goal images, such as "wiping" a stain off a table. Subsequently, LfVoid trains an ensembled goal discriminator on the generated image to provide reward signals for a reinforcement learning agent, guiding it to achieve the goal. The ability of LfVoid to learn with zero in-domain training on expert demonstrations or true goal observations (the void) is attributed to the utilization of knowledge from web-scale generative models. We evaluate LfVoid across three simulated tasks and validate its feasibility in the corresponding real-world scenarios. In addition, we offer insights into the key considerations for the effective integration of visual generative models into robot learning workflows. We posit that our work represents an initial step towards the broader application of pre-trained visual generative models in the robotics field. Our project page: https://lfvoid-rl.github.io/.

Recent text-to-image matching models apply contrastive learning to large corpora of uncurated pairs of images and sentences. While such models can provide a powerful score for matching and subsequent zero-shot tasks, they are not capable of generating caption given an image. In this work, we repurpose such models to generate a descriptive text given an image at inference time, without any further training or tuning steps. This is done by combining the visual-semantic model with a large language model, benefiting from the knowledge in both web-scale models. The resulting captions are much less restrictive than those obtained by supervised captioning methods. Moreover, as a zero-shot learning method, it is extremely flexible and we demonstrate its ability to perform image arithmetic in which the inputs can be either images or text, and the output is a sentence. This enables novel high-level vision capabilities such as comparing two images or solving visual analogy tests. Our code is available at: https://github.com/YoadTew/zero-shot-image-to-text.

Image captioning is one of the straightforward tasks that can take advantage of large-scale web-crawled data which provides rich knowledge about the visual world for a captioning model. However, since web-crawled data contains image-text pairs that are aligned at different levels, the inherent noises (e.g., misaligned pairs) make it difficult to learn a precise captioning model. While the filtering strategy can effectively remove noisy data, however, it leads to a decrease in learnable knowledge and sometimes brings about a new problem of data deficiency. To take the best of both worlds, we propose a noise-aware learning framework, which learns rich knowledge from the whole web-crawled data while being less affected by the noises. This is achieved by the proposed quality controllable model, which is learned using alignment levels of the image-text pairs as an additional control signal during training. The alignment-conditioned training allows the model to generate high-quality captions of well-aligned by simply setting the control signal to desired alignment level at inference time. Through in-depth analysis, we show that our controllable captioning model is effective in handling noise. In addition, with two tasks of zero-shot captioning and text-to-image retrieval using generated captions (i.e., self-retrieval), we also demonstrate our model can produce high-quality captions in terms of descriptiveness and distinctiveness. Code is available at https://github.com/kakaobrain/noc.

Happiness computing based on large-scale online web data and machine learning methods is an emerging research topic that underpins a range of issues, from personal growth to social stability. Many advanced Machine Learning (ML) models with explanations are used to compute the happiness online assessment while maintaining high accuracy of results. However, domain knowledge constraints, such as the primary and secondary relations of happiness factors, are absent from these models, which limits the association between computing results and the right reasons for why they occurred. This article attempts to provide new insights into the explanation consistency from an empirical study perspective. Then we study how to represent and introduce domain knowledge constraints to make ML models more trustworthy. We achieve this through: (1) proving that multiple prediction models with additive factor attributions will have the desirable property of primary and secondary relations consistency, and (2) showing that factor relations with quantity can be represented as an importance distribution for encoding domain knowledge. Factor explanation difference is penalized by the Kullback-Leibler divergence-based loss among computing models. Experimental results using two online web datasets show that domain knowledge of stable factor relations exists. Using this knowledge not only improves happiness computing accuracy but also reveals more significative happiness factors for assisting decisions well.

Multimodal large-scale models have significantly advanced the development of web agents, enabling perception and interaction with digital environments akin to human cognition. In this paper, we argue that web agents must first acquire sufficient knowledge to effectively engage in cognitive reasoning. Therefore, we decompose a web agent's capabilities into two essential stages: knowledge content learning and cognitive processes. To formalize this, we propose Web-CogKnowledge Framework, categorizing knowledge as Factual, Conceptual, and Procedural. In this framework, knowledge content learning corresponds to the agent's processes of Memorizing and Understanding, which rely on the first two knowledge types, representing the "what" of learning. Conversely, cognitive processes correspond to Exploring, grounded in Procedural knowledge, defining the "how" of reasoning and action. To facilitate knowledge acquisition, we construct the Web-CogDataset, a structured resource curated from 14 real-world websites, designed to systematically instill core knowledge necessary for web agent. This dataset serves as the agent's conceptual grounding-the "nouns" upon which comprehension is built-as well as the basis for learning how to reason and act. Building on this foundation, we operationalize these processes through a novel knowledge-driven Chain-of-Thought (CoT) reasoning framework, developing and training our proposed agent, the Web-CogReasoner. Extensive experimentation reveals its significant superiority over existing models, especially in generalizing to unseen tasks where structured knowledge is decisive. To enable rigorous evaluation, we introduce the Web-CogBench, a comprehensive evaluation suite designed to assess and compare agent performance across the delineated knowledge domains and cognitive capabilities. Our code and data is open sourced at https://github.com/Gnonymous/Web-CogReasoner

We study how vision-language models trained on Internet-scale data can be incorporated directly into end-to-end robotic control to boost generalization and enable emergent semantic reasoning. Our goal is to enable a single end-to-end trained model to both learn to map robot observations to actions and enjoy the benefits of large-scale pretraining on language and vision-language data from the web. To this end, we propose to co-fine-tune state-of-the-art vision-language models on both robotic trajectory data and Internet-scale vision-language tasks, such as visual question answering. In contrast to other approaches, we propose a simple, general recipe to achieve this goal: in order to fit both natural language responses and robotic actions into the same format, we express the actions as text tokens and incorporate them directly into the training set of the model in the same way as natural language tokens. We refer to such category of models as vision-language-action models (VLA) and instantiate an example of such a model, which we call RT-2. Our extensive evaluation (6k evaluation trials) shows that our approach leads to performant robotic policies and enables RT-2 to obtain a range of emergent capabilities from Internet-scale training. This includes significantly improved generalization to novel objects, the ability to interpret commands not present in the robot training data (such as placing an object onto a particular number or icon), and the ability to perform rudimentary reasoning in response to user commands (such as picking up the smallest or largest object, or the one closest to another object). We further show that incorporating chain of thought reasoning allows RT-2 to perform multi-stage semantic reasoning, for example figuring out which object to pick up for use as an improvised hammer (a rock), or which type of drink is best suited for someone who is tired (an energy drink).

The performance of a large language model (LLM) depends heavily on the quality and size of its pretraining dataset. However, the pretraining datasets for state-of-the-art open LLMs like Llama 3 and Mixtral are not publicly available and very little is known about how they were created. In this work, we introduce FineWeb, a 15-trillion token dataset derived from 96 Common Crawl snapshots that produces better-performing LLMs than other open pretraining datasets. To advance the understanding of how best to curate high-quality pretraining datasets, we carefully document and ablate all of the design choices used in FineWeb, including in-depth investigations of deduplication and filtering strategies. In addition, we introduce FineWeb-Edu, a 1.3-trillion token collection of educational text filtered from FineWeb. LLMs pretrained on FineWeb-Edu exhibit dramatically better performance on knowledge- and reasoning-intensive benchmarks like MMLU and ARC. Along with our datasets, we publicly release our data curation codebase and all of the models trained during our ablation experiments.

LLMs can now act as autonomous agents that interact with digital environments and complete specific objectives (e.g., arranging an online meeting). However, accuracy is still far from satisfactory, partly due to a lack of large-scale, direct demonstrations for digital tasks. Obtaining supervised data from humans is costly, and automatic data collection through exploration or reinforcement learning relies on complex environmental and content setup, resulting in datasets that lack comprehensive coverage of various scenarios. On the other hand, there is abundant knowledge that may indirectly assist task completion, such as online tutorials that were created for human consumption. In this work, we present Synatra, an approach that effectively transforms this indirect knowledge into direct supervision at scale. We define different types of indirect knowledge, and carefully study the available sources to obtain it, methods to encode the structure of direct demonstrations, and finally methods to transform indirect knowledge into direct demonstrations. We use 100k such synthetically-created demonstrations to finetune a 7B CodeLlama, and demonstrate that the resulting agent surpasses all comparably sized models on three web-based task benchmarks Mind2Web, MiniWoB++ and WebArena, as well as surpassing GPT-3.5 on WebArena and Mind2Web. In addition, while synthetic demonstrations prove to be only 3% the cost of human demonstrations (at $0.031 each), we show that the synthetic demonstrations can be more effective than an identical number of human demonstrations collected from limited domains.

The large-scale training of multi-modal models on data scraped from the web has shown outstanding utility in infusing these models with the required world knowledge to perform effectively on multiple downstream tasks. However, one downside of scraping data from the web can be the potential sacrifice of the benchmarks on which the abilities of these models are often evaluated. To safeguard against test data contamination and to truly test the abilities of these foundation models we propose LiveXiv: A scalable evolving live benchmark based on scientific ArXiv papers. LiveXiv accesses domain-specific manuscripts at any given timestamp and proposes to automatically generate visual question-answer pairs (VQA). This is done without any human-in-the-loop, using the multi-modal content in the manuscripts, like graphs, charts, and tables. Moreover, we introduce an efficient evaluation approach that estimates the performance of all models on the evolving benchmark using evaluations of only a subset of models. This significantly reduces the overall evaluation cost. We benchmark multiple open and proprietary Large Multi-modal Models (LMMs) on the first version of our benchmark, showing its challenging nature and exposing the models true abilities, avoiding contamination. Lastly, in our commitment to high quality, we have collected and evaluated a manually verified subset. By comparing its overall results to our automatic annotations, we have found that the performance variance is indeed minimal (<2.5%). Our dataset is available online on HuggingFace, and our code will be available here.

General-purpose artificial intelligence (AI) systems are built on massive swathes of public web data, assembled into corpora such as C4, RefinedWeb, and Dolma. To our knowledge, we conduct the first, large-scale, longitudinal audit of the consent protocols for the web domains underlying AI training corpora. Our audit of 14,000 web domains provides an expansive view of crawlable web data and how consent preferences to use it are changing over time. We observe a proliferation of AI-specific clauses to limit use, acute differences in restrictions on AI developers, as well as general inconsistencies between websites' expressed intentions in their Terms of Service and their robots.txt. We diagnose these as symptoms of ineffective web protocols, not designed to cope with the widespread re-purposing of the internet for AI. Our longitudinal analyses show that in a single year (2023-2024) there has been a rapid crescendo of data restrictions from web sources, rendering ~5%+ of all tokens in C4, or 28%+ of the most actively maintained, critical sources in C4, fully restricted from use. For Terms of Service crawling restrictions, a full 45% of C4 is now restricted. If respected or enforced, these restrictions are rapidly biasing the diversity, freshness, and scaling laws for general-purpose AI systems. We hope to illustrate the emerging crisis in data consent, foreclosing much of the open web, not only for commercial AI, but non-commercial AI and academic purposes.

This paper presents a comprehensive survey of ChatGPT and GPT-4, state-of-the-art large language models (LLM) from the GPT series, and their prospective applications across diverse domains. Indeed, key innovations such as large-scale pre-training that captures knowledge across the entire world wide web, instruction fine-tuning and Reinforcement Learning from Human Feedback (RLHF) have played significant roles in enhancing LLMs' adaptability and performance. We performed an in-depth analysis of 194 relevant papers on arXiv, encompassing trend analysis, word cloud representation, and distribution analysis across various application domains. The findings reveal a significant and increasing interest in ChatGPT/GPT-4 research, predominantly centered on direct natural language processing applications, while also demonstrating considerable potential in areas ranging from education and history to mathematics, medicine, and physics. This study endeavors to furnish insights into ChatGPT's capabilities, potential implications, ethical concerns, and offer direction for future advancements in this field.

Due to the resource-intensive nature of training vision-language models on expansive video data, a majority of studies have centered on adapting pre-trained image-language models to the video domain. Dominant pipelines propose to tackle the visual discrepancies with additional temporal learners while overlooking the substantial discrepancy for web-scaled descriptive narratives and concise action category names, leading to less distinct semantic space and potential performance limitations. In this work, we prioritize the refinement of text knowledge to facilitate generalizable video recognition. To address the limitations of the less distinct semantic space of category names, we prompt a large language model (LLM) to augment action class names into Spatio-Temporal Descriptors thus bridging the textual discrepancy and serving as a knowledge base for general recognition. Moreover, to assign the best descriptors with different video instances, we propose Optimal Descriptor Solver, forming the video recognition problem as solving the optimal matching flow across frame-level representations and descriptors. Comprehensive evaluations in zero-shot, few-shot, and fully supervised video recognition highlight the effectiveness of our approach. Our best model achieves a state-of-the-art zero-shot accuracy of 75.1% on Kinetics-600.

For centuries, researchers have sought out ways to connect disparate areas of knowledge. While early scholars (Galileo, da Vinci, etc.) were experts across fields, specialization has taken hold later. With the advent of Artificial Intelligence, we can now explore relationships across areas (e.g., mechanics-biology) or disparate domains (e.g., failure mechanics-art). To achieve this, we use a fine-tuned Large Language Model (LLM), here for a subset of knowledge in multiscale materials failure. The approach includes the use of a general-purpose LLM to distill question-answer pairs from raw sources followed by LLM fine-tuning. The resulting MechGPT LLM foundation model is used in a series of computational experiments to explore its capacity for knowledge retrieval, various language tasks, hypothesis generation, and connecting knowledge across disparate areas. While the model has some ability to recall knowledge from training, we find that LLMs are particularly useful to extract structural insights through Ontological Knowledge Graphs. These interpretable graph structures provide explanatory insights, frameworks for new research questions, and visual representations of knowledge that also can be used in retrieval-augmented generation. Three versions of MechGPT are discussed, featuring different sizes from 13 billion to 70 billion parameters, and reaching context lengths of more than 10,000 tokens. This provides ample capacity for sophisticated retrieval augmented strategies, as well as agent-based modeling where multiple LLMs interact collaboratively and/or adversarially, the incorporation of new data from the literature or web searches, as well as multimodality.