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We introduce ChatGLM, an evolving family of large language models that we have been developing over time. This report primarily focuses on the GLM-4 language series, which includes GLM-4, GLM-4-Air, and GLM-4-9B. They represent our most capable models that are trained with all the insights and lessons gained from the preceding three generations of ChatGLM. To date, the GLM-4 models are pre-trained on ten trillions of tokens mostly in Chinese and English, along with a small set of corpus from 24 languages, and aligned primarily for Chinese and English usage. The high-quality alignment is achieved via a multi-stage post-training process, which involves supervised fine-tuning and learning from human feedback. Evaluations show that GLM-4 1) closely rivals or outperforms GPT-4 in terms of general metrics such as MMLU, GSM8K, MATH, BBH, GPQA, and HumanEval, 2) gets close to GPT-4-Turbo in instruction following as measured by IFEval, 3) matches GPT-4 Turbo (128K) and Claude 3 for long context tasks, and 4) outperforms GPT-4 in Chinese alignments as measured by AlignBench. The GLM-4 All Tools model is further aligned to understand user intent and autonomously decide when and which tool(s) touse -- including web browser, Python interpreter, text-to-image model, and user-defined functions -- to effectively complete complex tasks. In practical applications, it matches and even surpasses GPT-4 All Tools in tasks like accessing online information via web browsing and solving math problems using Python interpreter. Over the course, we have open-sourced a series of models, including ChatGLM-6B (three generations), GLM-4-9B (128K, 1M), GLM-4V-9B, WebGLM, and CodeGeeX, attracting over 10 million downloads on Hugging face in the year 2023 alone. The open models can be accessed through https://github.com/THUDM and https://huggingface.co/THUDM.

Large language models (LLMs) have shown excellent mastering of human language, but still struggle in real-world applications that require mathematical problem-solving. While many strategies and datasets to enhance LLMs' mathematics are developed, it remains a challenge to simultaneously maintain and improve both language and mathematical capabilities in deployed LLM systems.In this work, we tailor the Self-Critique pipeline, which addresses the challenge in the feedback learning stage of LLM alignment. We first train a general Math-Critique model from the LLM itself to provide feedback signals. Then, we sequentially employ rejective fine-tuning and direct preference optimization over the LLM's own generations for data collection. Based on ChatGLM3-32B, we conduct a series of experiments on both academic and our newly created challenging dataset, MathUserEval. Results show that our pipeline significantly enhances the LLM's mathematical problem-solving while still improving its language ability, outperforming LLMs that could be two times larger. Related techniques have been deployed to ChatGLM\footnote{\url{https://chatglm.cn}}, an online serving LLM. Related evaluation dataset and scripts are released at \url{https://github.com/THUDM/ChatGLM-Math}.

Autonomous robots in endovascular interventions possess the potential to navigate guidewires with safety and reliability, while reducing human error and shortening surgical time. However, current methods of guidewire navigation based on Reinforcement Learning (RL) depend on manual demonstration data or magnetic guidance. In this work, we propose an Image-guided Autonomous Guidewire Navigation (IAGN) method. Specifically, we introduce BDA-star, a path planning algorithm with boundary distance constraints, for the trajectory planning of guidewire navigation. We established an IAGN-RL environment where the observations are real-time guidewire feeding images highlighting the position of the guidewire tip and the planned path. We proposed a reward function based on the distances from both the guidewire tip to the planned path and the target to evaluate the agent's actions. Furthermore, in policy network, we employ a pre-trained convolutional neural network to extract features, mitigating stability issues and slow convergence rates associated with direct learning from raw pixels. Experiments conducted on the aortic simulation IAGN platform demonstrated that the proposed method, targeting the left subclavian artery and the brachiocephalic artery, achieved a 100% guidewire navigation success rate, along with reduced movement and retraction distances and trajectories tend to the center of the vessels.