SVHalluc benchmark shows open-source audio-visual LLMs achieve near-random accuracy on semantic and temporal speech-vision alignment tasks while Gemini 2.5 Pro performs substantially better.
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LLaMA: Open and Efficient Foundation Language Models
Canonical reference. 82% of citing Pith papers cite this work as background.
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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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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.
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.
Multi-agent LLMs generate and verify 14,073 deterministic reaction rules from 665,901 patents, enabling 97.7% classification of unseen reactions with finer resolution than fixed proprietary systems.
LA-SR redefines unpaired super-resolution in language space by projecting images into a semantically rich representation and applying vision-language model guided losses to handle real-world degradations extracted from depth variations.
A new probing framework detects moderate parametric memorization signals in tabular in-context learning models under single-task fine-tuning, strongest on low-cardinality tasks, but signals largely disappear under realistic training.
DynaSteer dynamically steers LLM reasoning trajectories toward truth via pattern clustering, Fisher-LDA projection, and entropy-triggered representation edits, improving performance on MATH and generalizing to coding.
A new sensitivity-labeled test collection is released from Enron emails with crowdsourced queries, relevance judgments, and LLM extensions for evaluating sensitivity-aware search.
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From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation
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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
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Large Video Planner Enables Generalizable Robot Control
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CADET: A Modular Platform for Evaluating Distributed Cooperative Autonomy in Connected Autonomous Vehicles
CADET is a new modular platform for reproducible evaluation of distributed cooperative autonomy in connected autonomous vehicles using trace-driven emulation.
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Intercepting the Future: Latent-Space Predictive World Model for Dynamic VLA Manipulation
AHEAD augments frozen VLAs with a 4.9M-parameter latent world model that forecasts future visual features using optical-flow motion cues, achieving 79-97% success on dynamic simulation tasks and high real-robot success rates where baselines score near zero.
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Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning
Dexterity-BEV creates 3D vertex-based inputs and BEV-aligned outputs to reduce spatial-temporal misalignments in end-to-end robot policies trained on diverse datasets and embodiments.
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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
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MindVLA-U1: VLA Beats VA with Unified Streaming Architecture for Autonomous Driving
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Plug-and-Play Label Map Diffusion for Universal Goal-Oriented Navigation
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Sentinel-VLA: A Metacognitive VLA Model with Active Status Monitoring for Dynamic Reasoning and Error Recovery
Sentinel-VLA adds metacognitive status monitoring to VLA models for on-demand reasoning and error recovery, reporting over 30% higher real-world task success than prior SOTA.
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Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control
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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
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ImagineNav++: Prompting Vision-Language Models as Embodied Navigator through Scene Imagination
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Neuro-Symbolic Control with Large Language Models for Language-Guided Spatial Tasks
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World-Env: Leveraging World Model as a Virtual Environment for VLA Post-Training
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Policy Contrastive Decoding for Robotic Foundation Models
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DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies
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GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
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CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation
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OpenVLA: An Open-Source Vision-Language-Action Model
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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
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Vision-Language Foundation Models as Effective Robot Imitators
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Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
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CLUE: Adaptively Prioritized Contextual Cues by Leveraging a Unified Semantic Map for Effective Zero-Shot Object-Goal Navigation
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ReFineVLA: Multimodal Reasoning-Aware Generalist Robotic Policies via Teacher-Guided Fine-Tuning
ReFineVLA adds teacher-generated reasoning steps to VLA training and reports state-of-the-art success rates on SimplerEnv WidowX and Google Robot benchmarks.
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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
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A Survey on Vision-Language-Action Models: An Action Tokenization Perspective
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VeriGraph: Scene Graphs for Execution Verifiable Robot Planning
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From Technical Metrics to User Perception: A User Study of a Multimodal Human-Robot Interaction System for Object Detection and Grasping
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RLDX-1 Technical Report
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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.