Zero-Run auditing supplies valid lower bounds on differential privacy parameters from fixed member and non-member datasets by modeling and correcting distribution-shift confounding via causal-inference techniques.
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LLaMA: Open and Efficient Foundation Language Models
Canonical reference. 82% of citing Pith papers cite this work as background.
abstract
We introduce LLaMA, a collection of foundation language models ranging from 7B to 65B parameters. We train our models on trillions of tokens, and show that it is possible to train state-of-the-art models using publicly available datasets exclusively, without resorting to proprietary and inaccessible datasets. In particular, LLaMA-13B outperforms GPT-3 (175B) on most benchmarks, and LLaMA-65B is competitive with the best models, Chinchilla-70B and PaLM-540B. We release all our models to the research community.
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- abstract We introduce LLaMA, a collection of foundation language models ranging from 7B to 65B parameters. We train our models on trillions of tokens, and show that it is possible to train state-of-the-art models using publicly available datasets exclusively, without resorting to proprietary and inaccessible datasets. In particular, LLaMA-13B outperforms GPT-3 (175B) on most benchmarks, and LLaMA-65B is competitive with the best models, Chinchilla-70B and PaLM-540B. We release all our models to the research community.
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representative citing papers
Fragmentation strictly raises optimal finite-context log-loss on Markov sources while tokenization can make a short token window equivalent to a longer source window under reliability and compression conditions.
Allowing each quantization group to select among multiple 4-bit grids improves accuracy over single-grid FP4 for both post-training and pre-training of LLMs.
Adaptive scheduling of interventions in discrete diffusion language models, timed to attribute-specific commitment schedules discovered with sparse autoencoders, delivers precise multi-attribute steering up to 93% strength while preserving generation quality.
SignSGD provably beats SGD by a factor of d under sparse noise via matched ℓ1-norm upper and lower bounds, with an equivalent result for Muon on matrices, and this predicts faster GPT-2 pretraining.
An adversary controlling an intermediate pipeline stage in decentralized LLM post-training can inject a backdoor that reduces alignment from 80% to 6%, with the backdoor persisting in 60% of cases even after subsequent safety training.
First study of 1,899 MCP servers finds eight distinct vulnerabilities (only three traditional), 7.2% with general issues, 5.5% with tool poisoning, and 66% with code smells, urging MCP-specific security practices.
BEAVER is the first text-to-SQL benchmark from private enterprise data warehouses, revealing SOTA agentic frameworks achieve only 10.8% accuracy on complex real-world queries.
MME-RealWorld is the largest manually annotated high-resolution benchmark for MLLMs, where even the best models achieve less than 60% accuracy on challenging real-world tasks.
AgentDojo introduces an extensible evaluation framework populated with realistic agent tasks and security test cases to measure prompt injection robustness in tool-using LLM agents.
AgentClinic is a multimodal agent benchmark demonstrating that LLM diagnostic accuracy on MedQA drops to below one-tenth in sequential clinical simulations, with Claude-3.5 leading and large tool-use differences across models.
ORPO performs preference alignment during supervised fine-tuning via a monolithic odds ratio penalty, allowing 7B models to outperform larger state-of-the-art models on alignment benchmarks.
BLaIR is a new benchmark and 570M-review dataset showing that LLM performance rankings on recommendation tasks have little correlation with rankings on general embedding benchmarks like MTEB.
Mamba is a linear-time sequence model using input-dependent selective SSMs that achieves SOTA results across modalities and matches twice-larger Transformers on language modeling with 5x higher inference throughput.
MMMU provides 11.5K heterogeneous college-level multimodal questions that current models solve at 56-59% accuracy, establishing a new standard for expert multimodal evaluation.
Tree of Thoughts enables language models to solve complex planning tasks by generating, evaluating, and searching over coherent intermediate thoughts in a tree, raising Game of 24 success from 4% to 74% with GPT-4.
API-Bank is a new benchmark and training dataset for tool-augmented LLMs that shows fine-tuned models can approach GPT-3.5 tool-use effectiveness.
GPT-4-generated instruction data produces superior zero-shot performance in finetuned LLaMA models versus prior state-of-the-art data.
A new sensitivity-labeled test collection is released from Enron emails with crowdsourced queries, relevance judgments, and LLM extensions for evaluating sensitivity-aware search.
SPARE reformulates visual token pruning as column subset selection to minimize reconstruction error and uses anti-relevance for context-aware selection in VLMs.
Orli is an autoregressive image-to-sequence model that jointly detects text lines and determines their reading order on historical documents via chord-frame baselines, trained on 196k pages across ten scripts.
Defines cost-aware RAG with evidence cost tiers and shows static selectors are brittle while agentic LLM-based selection is promising but model-dependent.
RWGBench is a citation-centric benchmark for related work generation built from 40k CS papers and a 100-paper test set, with multi-dimensional metrics that better match human expert judgment than standard similarity scores.
Introduces nexbax, a diagnostic framework with three themes and 10 dimensions for evaluating AI economic viability, operational practicality, and societal integrity in next-billion-user contexts.
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BlockVLA: Accelerating Autoregressive VLA via Block Diffusion Finetuning
BlockVLA accelerates autoregressive VLA models by 3.3x using block diffusion finetuning, with faster training convergence and better early performance on long-horizon robotic tasks.
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From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation
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VistaBot: View-Robust Robot Manipulation via Spatiotemporal-Aware View Synthesis
VistaBot integrates 4D geometry estimation and spatiotemporal view synthesis into action policies to improve cross-view generalization by 2.6-2.8x on a new VGS metric in simulation and real tasks.
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HeiSD: Hybrid Speculative Decoding for Embodied Vision-Language-Action Models with Kinematic Awareness
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KERV: Kinematic-Rectified Speculative Decoding for Embodied VLA Models
KERV integrates kinematic Kalman Filter predictions with speculative decoding in VLA models to achieve 27-37% faster inference while maintaining nearly the same task success rates.
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Large Video Planner Enables Generalizable Robot Control
A video foundation model trained on human demonstrations generates zero-shot plans that convert to executable robot actions on novel scenes and tasks.
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From a Single Demonstration to a General Policy for Contact-Rich Manipulation
A one-shot LfD framework abstracts a single demonstration into environmental-constraint primitives, then uses self-exploration, human corrections, and compliant recovery to produce a policy that generalizes across poses and geometries, achieving over 90% success on seven real-world multi-stage tasks
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PCASim: Promptable Closed-loop Adversarial Simulation for Urban Traffic Environment
PCASim uses LLMs to integrate knowledge, data, and adversarial methods for generating promptable safety-critical urban traffic scenarios, with RL training for vehicle behaviors, reporting 12% better DSL accuracy, 8% higher scenario success rate, and 30% improved obstacle avoidance.
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MindVLA-U1: VLA Beats VA with Unified Streaming Architecture for Autonomous Driving
MindVLA-U1 is the first unified streaming VLA architecture that surpasses human drivers on WOD-E2E planning metrics while matching VA latency and preserving language interfaces.
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Plug-and-Play Label Map Diffusion for Universal Goal-Oriented Navigation
PLMD applies a denoising diffusion model to predict labels for unknown map regions, allowing goal localization in unexplored environments by substituting completed labels into existing navigation pipelines.
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Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control
NMR uses VAE-based clustered expert physics refinement and a CNN-Transformer to learn dynamics-aware retargeting, eliminating joint jumps and self-collisions on Unitree G1 while accelerating downstream control policies.
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ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors
ExpertGen generates high-success expert policies in simulation from imperfect priors by freezing a diffusion behavior model and optimizing its initial noise via RL, then distills them for real-robot deployment.
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SeedPolicy: Horizon Scaling via Self-Evolving Diffusion Policy for Robot Manipulation
SeedPolicy introduces self-evolving gated attention to extend the temporal horizon of diffusion policies, yielding 36.8% and 169% relative gains over standard DP on clean and randomized RoboTwin 2.0 tasks.
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ImagineNav++: Prompting Vision-Language Models as Embodied Navigator through Scene Imagination
ImagineNav++ achieves SOTA mapless visual navigation by prompting VLMs to select imagined future views generated from a human-preference-distilled module and maintained via selective foveation memory.
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Neuro-Symbolic Control with Large Language Models for Language-Guided Spatial Tasks
A neuro-symbolic system pairing LLMs for symbolic reasoning with neural delta controllers for execution delivers over 70% step reduction and up to 8.83x speedup in language-guided planar object manipulation while remaining robust to LLM quality.
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World-Env: Leveraging World Model as a Virtual Environment for VLA Post-Training
World-Env replaces physical robot interactions with a world model-based virtual environment and VLM-guided rewards to enable efficient RL post-training for VLA models, showing gains with only five demonstrations per task.
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Policy Contrastive Decoding for Robotic Foundation Models
PCD redirects robotic policies toward object-relevant visual features via contrastive decoding on masked inputs, improving generalization without retraining or weight access.
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DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies
DexWild co-trains dexterous robot policies on in-the-wild human hand interactions recorded with a low-cost system and limited robot data, achieving 68.5% success in unseen environments and 5.8x better cross-embodiment generalization.
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GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
GraspVLA shows that pretraining a grasping model on a billion synthetic action frames enables zero-shot open-vocabulary performance and sim-to-real transfer.
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CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation
CogACT is a new VLA model that uses a conditioned diffusion action transformer to achieve over 35% higher average success rates than OpenVLA in simulation and 55% in real-robot experiments while generalizing to new robots and objects.
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OpenVLA: An Open-Source Vision-Language-Action Model
OpenVLA achieves 16.5% higher task success than the 55B RT-2-X model across 29 tasks with 7x fewer parameters while enabling effective fine-tuning and quantization without performance loss.
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A Survey on Vision-Language-Action Models for Embodied AI
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Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation
A GPT-style model pre-trained on large video datasets achieves 94.9% success on CALVIN multi-task manipulation and 85.4% zero-shot generalization, outperforming prior baselines.
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Vision-Language Foundation Models as Effective Robot Imitators
RoboFlamingo adapts open-source vision-language models for robot manipulation tasks via single-step comprehension plus an explicit policy head, outperforming prior methods on benchmarks with only light fine-tuning.
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CLUE: Adaptively Prioritized Contextual Cues by Leveraging a Unified Semantic Map for Effective Zero-Shot Object-Goal Navigation
CLUE adaptively weights room-type and object-co-location cues from an LLM to construct a unified semantic value map that improves success rate and efficiency in zero-shot object-goal navigation.
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ReFineVLA: Multimodal Reasoning-Aware Generalist Robotic Policies via Teacher-Guided Fine-Tuning
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ComSim: Building Scalable Real-World Robot Data Generation via Compositional Simulation
Compositional Simulation generates scalable real-world robot training data by combining classical simulation with neural simulation in a closed-loop real-sim-real augmentation pipeline.
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A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
Multi-task pretraining of diffusion policies on diverse robot data produces more successful, robust, and data-efficient policies for dexterous manipulation than single-task baselines, with performance scaling with pretraining size and diversity.
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A Survey on Vision-Language-Action Models: An Action Tokenization Perspective
The survey frames VLA models as pipelines that generate progressively grounded action tokens and classifies those tokens into eight types to guide future development.
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VeriGraph: Scene Graphs for Execution Verifiable Robot Planning
VeriGraph integrates VLMs with scene-graph verification to raise robot task success rates by 30-58% over baselines in manipulation scenarios.
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RLDX-1 Technical Report
RLDX-1 outperforms frontier VLAs such as π0.5 and GR00T N1.6 on dexterous manipulation benchmarks, reaching 86.8% success on ALLEX humanoid tasks versus around 40% for the baselines.
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Ablation Study of Multimodal Perception, Language Grounding, and Control for Human-Robot Interaction in an Object Detection and Grasping Task
An ablation study isolates the contributions of LLM choice, visual perception configuration, and motion controller to success rate and execution time in a human-robot grasping task.
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