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Recent advancements in Large Multimodal Models (LMMs) have greatly enhanced their proficiency in 2D visual understanding tasks, enabling them to effectively process and understand images and videos. However, the development of LMMs with 3D-awareness for 3D scene understanding has been hindered by the lack of large-scale 3D vision-language datasets and powerful 3D encoders. In this paper, we introduce a simple yet effective framework called LLaVA-3D. Leveraging the strong 2D understanding priors from LLaVA, our LLaVA-3D efficiently adapts LLaVA for 3D scene understanding without compromising 2D understanding capabilities. To achieve this, we employ a simple yet effective representation, 3D Patch, which connects 2D CLIP patch features with their corresponding positions in 3D space. By integrating the 3D Patches into 2D LMMs and employing joint 2D and 3D vision-language instruction tuning, we establish a unified architecture for both 2D image understanding and 3D scene understanding. Experimental results show that LLaVA-3D converges 3.5x faster than existing 3D LMMs when trained on 3D vision-language datasets. Moreover, LLaVA-3D not only achieves state-of-the-art performance across various 3D tasks but also maintains comparable 2D image understanding and vision-language conversation capabilities with LLaVA., Comment: Project page: https://zcmax.github.io/projects/LLaVA-3D/

A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR) offers a promising solution to overcome this challenge. Numerous studies have shown that combining learning-based and geometric methods can achieve accurate preoperative and intraoperative data registration. This work proposes a real-time monocular 3D tracking algorithm for post-registration tasks. The ORB-SLAM2 framework is adopted and modified for prior-based 3D tracking. The primitive 3D shape is used for fast initialization of the monocular SLAM. A pseudo-segmentation strategy is employed to separate the target organ from the background for tracking purposes, and the geometric prior of the 3D shape is incorporated as an additional constraint in the pose graph. Experiments from in-vivo and ex-vivo tests demonstrate that the proposed 3D tracking system provides robust 3D tracking and effectively handles typical challenges such as fast motion, out-of-field-of-view scenarios, partial visibility, and "organ-background" relative motion., Comment: Demo: https://youtu.be/B1xZW8bj3cM

Information seeking and integration is a complex cognitive task that consumes enormous time and effort. Inspired by the remarkable progress of Large Language Models, recent works attempt to solve this task by combining LLMs and search engines. However, these methods still obtain unsatisfying performance due to three challenges: (1) complex requests often cannot be accurately and completely retrieved by the search engine once (2) corresponding information to be integrated is spread over multiple web pages along with massive noise, and (3) a large number of web pages with long contents may quickly exceed the maximum context length of LLMs. Inspired by the cognitive process when humans solve these problems, we introduce MindSearch to mimic the human minds in web information seeking and integration, which can be instantiated by a simple yet effective LLM-based multi-agent framework. The WebPlanner models the human mind of multi-step information seeking as a dynamic graph construction process: it decomposes the user query into atomic sub-questions as nodes in the graph and progressively extends the graph based on the search result from WebSearcher. Tasked with each sub-question, WebSearcher performs hierarchical information retrieval with search engines and collects valuable information for WebPlanner. The multi-agent design of MindSearch enables the whole framework to seek and integrate information parallelly from larger-scale (e.g., more than 300) web pages in 3 minutes, which is worth 3 hours of human effort. MindSearch demonstrates significant improvement in the response quality in terms of depth and breadth, on both close-set and open-set QA problems. Besides, responses from MindSearch based on InternLM2.5-7B are preferable by humans to ChatGPT-Web and Perplexity.ai applications, which implies that MindSearch can already deliver a competitive solution to the proprietary AI search engine., Comment: Technical Report. Project Page: https://mindsearch.netlify.app Code: https://github.com/InternLM/MindSearch

While LLM-Based agents, which use external tools to solve complex problems, have made significant progress, benchmarking their ability is challenging, thereby hindering a clear understanding of their limitations. In this paper, we propose an interactive evaluation framework, named CIBench, to comprehensively assess LLMs' ability to utilize code interpreters for data science tasks. Our evaluation framework includes an evaluation dataset and two evaluation modes. The evaluation dataset is constructed using an LLM-human cooperative approach and simulates an authentic workflow by leveraging consecutive and interactive IPython sessions. The two evaluation modes assess LLMs' ability with and without human assistance. We conduct extensive experiments to analyze the ability of 24 LLMs on CIBench and provide valuable insights for future LLMs in code interpreter utilization., Comment: Under review. The first three authors contribute equally, and Songyang Zhang is the project leader

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data representation learning perspective, we introduce SuperFlow, a novel framework designed to harness consecutive LiDAR-camera pairs for establishing spatiotemporal pretraining objectives. SuperFlow stands out by integrating two key designs: 1) a dense-to-sparse consistency regularization, which promotes insensitivity to point cloud density variations during feature learning, and 2) a flow-based contrastive learning module, carefully crafted to extract meaningful temporal cues from readily available sensor calibrations. To further boost learning efficiency, we incorporate a plug-and-play view consistency module that enhances the alignment of the knowledge distilled from camera views. Extensive comparative and ablation studies across 11 heterogeneous LiDAR datasets validate our effectiveness and superiority. Additionally, we observe several interesting emerging properties by scaling up the 2D and 3D backbones during pretraining, shedding light on the future research of 3D foundation models for LiDAR-based perception., Comment: ECCV 2024; 36 pages, 11 figures, 11 tables; Code at https://github.com/Xiangxu-0103/SuperFlow

Large language models (LLMs) exhibit hallucinations in long-form question-answering tasks across various domains and wide applications. Current hallucination detection and mitigation datasets are limited in domains and sizes, which struggle to scale due to prohibitive labor costs and insufficient reliability of existing hallucination annotators. To facilitate the scalable oversight of LLM hallucinations, this paper introduces an iterative self-training framework that simultaneously and progressively scales up the hallucination annotation dataset and improves the accuracy of the hallucination annotator. Based on the Expectation Maximization (EM) algorithm, in each iteration, the framework first applies a hallucination annotation pipeline to annotate a scaled dataset and then trains a more accurate hallucination annotator on the dataset. This new hallucination annotator is adopted in the hallucination annotation pipeline used for the next iteration. Extensive experimental results demonstrate that the finally obtained hallucination annotator with only 7B parameters surpasses the performance of GPT-4 and obtains new state-of-the-art hallucination detection results on HaluEval and HalluQA by zero-shot inference. Such an annotator can not only evaluate the hallucination levels of various LLMs on the large-scale dataset but also help to mitigate the hallucination of LLMs generations, with the Natural Language Inference (NLI) metric increasing from 25% to 37% on HaluEval., Comment: 9 pages

We present InternLM-XComposer-2.5 (IXC-2.5), a versatile large-vision language model that supports long-contextual input and output. IXC-2.5 excels in various text-image comprehension and composition applications, achieving GPT-4V level capabilities with merely 7B LLM backend. Trained with 24K interleaved image-text contexts, it can seamlessly extend to 96K long contexts via RoPE extrapolation. This long-context capability allows IXC-2.5 to excel in tasks requiring extensive input and output contexts. Compared to its previous 2.0 version, InternLM-XComposer-2.5 features three major upgrades in vision-language comprehension: (1) Ultra-High Resolution Understanding, (2) Fine-Grained Video Understanding, and (3) Multi-Turn Multi-Image Dialogue. In addition to comprehension, IXC-2.5 extends to two compelling applications using extra LoRA parameters for text-image composition: (1) Crafting Webpages and (2) Composing High-Quality Text-Image Articles. IXC-2.5 has been evaluated on 28 benchmarks, outperforming existing open-source state-of-the-art models on 16 benchmarks. It also surpasses or competes closely with GPT-4V and Gemini Pro on 16 key tasks. The InternLM-XComposer-2.5 is publicly available at https://github.com/InternLM/InternLM-XComposer., Comment: Technical Report. https://github.com/InternLM/InternLM-XComposer

Although great progress has been made in 3D visual grounding, current models still rely on explicit textual descriptions for grounding and lack the ability to reason human intentions from implicit instructions. We propose a new task called 3D reasoning grounding and introduce a new benchmark ScanReason which provides over 10K question-answer-location pairs from five reasoning types that require the synerization of reasoning and grounding. We further design our approach, ReGround3D, composed of the visual-centric reasoning module empowered by Multi-modal Large Language Model (MLLM) and the 3D grounding module to obtain accurate object locations by looking back to the enhanced geometry and fine-grained details from the 3D scenes. A chain-of-grounding mechanism is proposed to further boost the performance with interleaved reasoning and grounding steps during inference. Extensive experiments on the proposed benchmark validate the effectiveness of our proposed approach., Comment: Accepted by ECCV 2024. A comprehensive and hierarchical 3D reasoning grounding benchmark in the era of foundation models. Project page: https://zcmax.github.io/projects/ScanReason

While large language models (LLMs) have showcased impressive capabilities, they struggle with addressing legal queries due to the intricate complexities and specialized expertise required in the legal field. In this paper, we introduce InternLM-Law, a specialized LLM tailored for addressing diverse legal queries related to Chinese laws, spanning from responding to standard legal questions (e.g., legal exercises in textbooks) to analyzing complex real-world legal situations. We meticulously construct a dataset in the Chinese legal domain, encompassing over 1 million queries, and implement a data filtering and processing pipeline to ensure its diversity and quality. Our training approach involves a novel two-stage process: initially fine-tuning LLMs on both legal-specific and general-purpose content to equip the models with broad knowledge, followed by exclusive fine-tuning on high-quality legal data to enhance structured output generation. InternLM-Law achieves the highest average performance on LawBench, outperforming state-of-the-art models, including GPT-4, on 13 out of 20 subtasks. We make InternLM-Law and our dataset publicly available to facilitate future research in applying LLMs within the legal domain., Comment: Our dataset, code and models will be released at https://github.com/InternLM/InternLM-Law

Endowing Large Multimodal Models (LMMs) with visual grounding capability can significantly enhance AIs' understanding of the visual world and their interaction with humans. However, existing methods typically fine-tune the parameters of LMMs to learn additional segmentation tokens and overfit grounding and segmentation datasets. Such a design would inevitably cause a catastrophic diminution in the indispensable conversational capability of general AI assistants. In this paper, we comprehensively evaluate state-of-the-art grounding LMMs across a suite of multimodal question-answering benchmarks, observing pronounced performance drops that indicate vanishing general knowledge comprehension and weakened instruction following ability. To address this issue, we present F-LMM -- grounding frozen off-the-shelf LMMs in human-AI conversations -- a straightforward yet effective design based on the fact that word-pixel correspondences conducive to visual grounding inherently exist in the attention weights of well-trained LMMs. Using only a few trainable CNN layers, we can translate word-pixel attention weights to mask logits, which a SAM-based mask refiner can further optimise. Our F-LMM neither learns special segmentation tokens nor utilises high-quality grounded instruction-tuning data, but achieves competitive performance on referring expression segmentation and panoptic narrative grounding benchmarks while completely preserving LMMs' original conversational ability. Additionally, with instruction-following ability preserved and grounding ability obtained, our F-LMM can perform visual chain-of-thought reasoning and better resist object hallucinations., Comment: Project Page: https://github.com/wusize/F-LMM

Reducing the `$\textit{hallucination}$' problem of Large Language Models (LLMs) is crucial for their wide applications. A comprehensive and fine-grained measurement of the hallucination is the first key step for the governance of this issue but is under-explored in the community. Thus, we present $\textbf{ANAH}$, a bilingual dataset that offers $\textbf{AN}$alytical $\textbf{A}$nnotation of $\textbf{H}$allucinations in LLMs within Generative Question Answering. Each answer sentence in our dataset undergoes rigorous annotation, involving the retrieval of a reference fragment, the judgment of the hallucination type, and the correction of hallucinated content. ANAH consists of ~12k sentence-level annotations for ~4.3k LLM responses covering over 700 topics, constructed by a human-in-the-loop pipeline. Thanks to the fine granularity of the hallucination annotations, we can quantitatively confirm that the hallucinations of LLMs progressively accumulate in the answer and use ANAH to train and evaluate hallucination annotators. We conduct extensive experiments on studying generative and discriminative annotators and show that, although current open-source LLMs have difficulties in fine-grained hallucination annotation, the generative annotator trained with ANAH can surpass all open-source LLMs and GPT-3.5, obtain performance competitive with GPT-4, and exhibits better generalization ability on unseen questions., Comment: Accepted by ACL 2024

Open-source Large Language Models (LLMs) and their specialized variants, particularly Code LLMs, have recently delivered impressive performance. However, previous Code LLMs are typically fine-tuned on single-source data with limited quality and diversity, which may insufficiently elicit the potential of pre-trained Code LLMs. In this paper, we present AlchemistCoder, a series of Code LLMs with enhanced code generation and generalization capabilities fine-tuned on multi-source data. To achieve this, we pioneer to unveil inherent conflicts among the various styles and qualities in multi-source code corpora and introduce data-specific prompts with hindsight relabeling, termed AlchemistPrompts, to harmonize different data sources and instruction-response pairs. Additionally, we propose incorporating the data construction process into the fine-tuning data as code comprehension tasks, including instruction evolution, data filtering, and code review. Extensive experiments demonstrate that AlchemistCoder holds a clear lead among all models of the same size (6.7B/7B) and rivals or even surpasses larger models (15B/33B/70B), showcasing the efficacy of our method in refining instruction-following capabilities and advancing the boundaries of code intelligence., Comment: Preprint with 20 pages and 20 figures. Source code and models at https://github.com/InternLM/AlchemistCoder

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied conditions remains insufficiently assessed. In this study, we present RoboBEV, an extensive benchmark suite designed to evaluate the resilience of BEV algorithms. This suite incorporates a diverse set of camera corruption types, each examined over three severity levels. Our benchmarks also consider the impact of complete sensor failures that occur when using multi-modal models. Through RoboBEV, we assess 33 state-of-the-art BEV-based perception models spanning tasks like detection, map segmentation, depth estimation, and occupancy prediction. Our analyses reveal a noticeable correlation between the model's performance on in-distribution datasets and its resilience to out-of-distribution challenges. Our experimental results also underline the efficacy of strategies like pre-training and depth-free BEV transformations in enhancing robustness against out-of-distribution data. Furthermore, we observe that leveraging extensive temporal information significantly improves the model's robustness. Based on our observations, we design an effective robustness enhancement strategy based on the CLIP model. The insights from this study pave the way for the development of future BEV models that seamlessly combine accuracy with real-world robustness., Comment: Preprint; 17 pages, 13 figures, 11 tables; Code at this https URL: https://github.com/Daniel-xsy/RoboBEV

In the rapidly evolving field of autonomous driving, precise segmentation of LiDAR data is crucial for understanding complex 3D environments. Traditional approaches often rely on disparate, standalone codebases, hindering unified advancements and fair benchmarking across models. To address these challenges, we introduce MMDetection3D-lidarseg, a comprehensive toolbox designed for the efficient training and evaluation of state-of-the-art LiDAR segmentation models. We support a wide range of segmentation models and integrate advanced data augmentation techniques to enhance robustness and generalization. Additionally, the toolbox provides support for multiple leading sparse convolution backends, optimizing computational efficiency and performance. By fostering a unified framework, MMDetection3D-lidarseg streamlines development and benchmarking, setting new standards for research and application. Our extensive benchmark experiments on widely-used datasets demonstrate the effectiveness of the toolbox. The codebase and trained models have been publicly available, promoting further research and innovation in the field of LiDAR segmentation for autonomous driving., Comment: Preprint; 17 pages, 4 figures, 7 tables; Code at https://github.com/open-mmlab/mmdetection3d

Recent advancements in large language models (LLMs) have showcased significant improvements in mathematics. However, traditional math benchmarks like GSM8k offer a unidimensional perspective, falling short in providing a holistic assessment of the LLMs' math capabilities. To address this gap, we introduce MathBench, a new benchmark that rigorously assesses the mathematical capabilities of large language models. MathBench spans a wide range of mathematical disciplines, offering a detailed evaluation of both theoretical understanding and practical problem-solving skills. The benchmark progresses through five distinct stages, from basic arithmetic to college mathematics, and is structured to evaluate models at various depths of knowledge. Each stage includes theoretical questions and application problems, allowing us to measure a model's mathematical proficiency and its ability to apply concepts in practical scenarios. MathBench aims to enhance the evaluation of LLMs' mathematical abilities, providing a nuanced view of their knowledge understanding levels and problem solving skills in a bilingual context. The project is released at https://github.com/open-compass/MathBench ., Comment: Project: https://github.com/open-compass/MathBench

In the realm of autonomous driving, robust perception under out-of-distribution conditions is paramount for the safe deployment of vehicles. Challenges such as adverse weather, sensor malfunctions, and environmental unpredictability can severely impact the performance of autonomous systems. The 2024 RoboDrive Challenge was crafted to propel the development of driving perception technologies that can withstand and adapt to these real-world variabilities. Focusing on four pivotal tasks -- BEV detection, map segmentation, semantic occupancy prediction, and multi-view depth estimation -- the competition laid down a gauntlet to innovate and enhance system resilience against typical and atypical disturbances. This year's challenge consisted of five distinct tracks and attracted 140 registered teams from 93 institutes across 11 countries, resulting in nearly one thousand submissions evaluated through our servers. The competition culminated in 15 top-performing solutions, which introduced a range of innovative approaches including advanced data augmentation, multi-sensor fusion, self-supervised learning for error correction, and new algorithmic strategies to enhance sensor robustness. These contributions significantly advanced the state of the art, particularly in handling sensor inconsistencies and environmental variability. Participants, through collaborative efforts, pushed the boundaries of current technologies, showcasing their potential in real-world scenarios. Extensive evaluations and analyses provided insights into the effectiveness of these solutions, highlighting key trends and successful strategies for improving the resilience of driving perception systems. This challenge has set a new benchmark in the field, providing a rich repository of techniques expected to guide future research in this field., Comment: ICRA 2024; 32 pages, 24 figures, 5 tables; Code at https://robodrive-24.github.io/

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into semi-supervised learning for LiDAR semantic segmentation, leveraging the intrinsic spatial priors of driving scenes and multi-sensor complements to augment the efficacy of unlabeled datasets. We introduce LaserMix++, an evolved framework that integrates laser beam manipulations from disparate LiDAR scans and incorporates LiDAR-camera correspondences to further assist data-efficient learning. Our framework is tailored to enhance 3D scene consistency regularization by incorporating multi-modality, including 1) multi-modal LaserMix operation for fine-grained cross-sensor interactions; 2) camera-to-LiDAR feature distillation that enhances LiDAR feature learning; and 3) language-driven knowledge guidance generating auxiliary supervisions using open-vocabulary models. The versatility of LaserMix++ enables applications across LiDAR representations, establishing it as a universally applicable solution. Our framework is rigorously validated through theoretical analysis and extensive experiments on popular driving perception datasets. Results demonstrate that LaserMix++ markedly outperforms fully supervised alternatives, achieving comparable accuracy with five times fewer annotations and significantly improving the supervised-only baselines. This substantial advancement underscores the potential of semi-supervised approaches in reducing the reliance on extensive labeled data in LiDAR-based 3D scene understanding systems., Comment: Preprint; 17 pages, 6 figures, 8 tables; Code at https://github.com/ldkong1205/LaserMix

The Large Vision-Language Model (LVLM) field has seen significant advancements, yet its progression has been hindered by challenges in comprehending fine-grained visual content due to limited resolution. Recent efforts have aimed to enhance the high-resolution understanding capabilities of LVLMs, yet they remain capped at approximately 1500 x 1500 pixels and constrained to a relatively narrow resolution range. This paper represents InternLM-XComposer2-4KHD, a groundbreaking exploration into elevating LVLM resolution capabilities up to 4K HD (3840 x 1600) and beyond. Concurrently, considering the ultra-high resolution may not be necessary in all scenarios, it supports a wide range of diverse resolutions from 336 pixels to 4K standard, significantly broadening its scope of applicability. Specifically, this research advances the patch division paradigm by introducing a novel extension: dynamic resolution with automatic patch configuration. It maintains the training image aspect ratios while automatically varying patch counts and configuring layouts based on a pre-trained Vision Transformer (ViT) (336 x 336), leading to dynamic training resolution from 336 pixels to 4K standard. Our research demonstrates that scaling training resolution up to 4K HD leads to consistent performance enhancements without hitting the ceiling of potential improvements. InternLM-XComposer2-4KHD shows superb capability that matches or even surpasses GPT-4V and Gemini Pro in 10 of the 16 benchmarks. The InternLM-XComposer2-4KHD model series with 7B parameters are publicly available at https://github.com/InternLM/InternLM-XComposer., Comment: Code and models are publicly available at https://github.com/InternLM/InternLM-XComposer

The evolution of Large Language Models (LLMs) like ChatGPT and GPT-4 has sparked discussions on the advent of Artificial General Intelligence (AGI). However, replicating such advancements in open-source models has been challenging. This paper introduces InternLM2, an open-source LLM that outperforms its predecessors in comprehensive evaluations across 6 dimensions and 30 benchmarks, long-context modeling, and open-ended subjective evaluations through innovative pre-training and optimization techniques. The pre-training process of InternLM2 is meticulously detailed, highlighting the preparation of diverse data types including text, code, and long-context data. InternLM2 efficiently captures long-term dependencies, initially trained on 4k tokens before advancing to 32k tokens in pre-training and fine-tuning stages, exhibiting remarkable performance on the 200k ``Needle-in-a-Haystack" test. InternLM2 is further aligned using Supervised Fine-Tuning (SFT) and a novel Conditional Online Reinforcement Learning from Human Feedback (COOL RLHF) strategy that addresses conflicting human preferences and reward hacking. By releasing InternLM2 models in different training stages and model sizes, we provide the community with insights into the model's evolution.

Safety-critical 3D scene understanding tasks necessitate not only accurate but also confident predictions from 3D perception models. This study introduces Calib3D, a pioneering effort to benchmark and scrutinize the reliability of 3D scene understanding models from an uncertainty estimation viewpoint. We comprehensively evaluate 28 state-of-the-art models across 10 diverse 3D datasets, uncovering insightful phenomena that cope with both the aleatoric and epistemic uncertainties in 3D scene understanding. We discover that despite achieving impressive levels of accuracy, existing models frequently fail to provide reliable uncertainty estimates -- a pitfall that critically undermines their applicability in safety-sensitive contexts. Through extensive analysis of key factors such as network capacity, LiDAR representations, rasterization resolutions, and 3D data augmentation techniques, we correlate these aspects directly with the model calibration efficacy. Furthermore, we introduce DeptS, a novel depth-aware scaling approach aimed at enhancing 3D model calibration. Extensive experiments across a wide range of configurations validate the superiority of our method. We hope this work could serve as a cornerstone for fostering reliable 3D scene understanding. Code and benchmark toolkits are publicly available., Comment: Preprint; 37 pages, 8 figures, 11 tables; Code at https://github.com/ldkong1205/Calib3D

Open-sourced Large Language Models (LLMs) have achieved great success in various NLP tasks, however, they are still far inferior to API-based models when acting as agents. How to integrate agent ability into general LLMs becomes a crucial and urgent problem. This paper first delivers three key observations: (1) the current agent training corpus is entangled with both formats following and agent reasoning, which significantly shifts from the distribution of its pre-training data; (2) LLMs exhibit different learning speeds on the capabilities required by agent tasks; and (3) current approaches have side-effects when improving agent abilities by introducing hallucinations. Based on the above findings, we propose Agent-FLAN to effectively Fine-tune LANguage models for Agents. Through careful decomposition and redesign of the training corpus, Agent-FLAN enables Llama2-7B to outperform prior best works by 3.5\% across various agent evaluation datasets. With comprehensively constructed negative samples, Agent-FLAN greatly alleviates the hallucination issues based on our established evaluation benchmark. Besides, it consistently improves the agent capability of LLMs when scaling model sizes while slightly enhancing the general capability of LLMs. The code will be available at https://github.com/InternLM/Agent-FLAN., Comment: Technical Report

Critique ability, i.e., the capability of Large Language Models (LLMs) to identify and rectify flaws in responses, is crucial for their applications in self-improvement and scalable oversight. While numerous studies have been proposed to evaluate critique ability of LLMs, their comprehensiveness and reliability are still limited. To overcome this problem, we introduce CriticEval, a novel benchmark designed to comprehensively and reliably evaluate critique ability of LLMs. Specifically, to ensure the comprehensiveness, CriticEval evaluates critique ability from four dimensions across nine diverse task scenarios. It evaluates both scalar-valued and textual critiques, targeting responses of varying quality. To ensure the reliability, a large number of critiques are annotated to serve as references, enabling GPT-4 to evaluate textual critiques reliably. Extensive evaluations of open-source and closed-source LLMs first validate the reliability of evaluation in CriticEval. Then, experimental results demonstrate the promising potential of open-source LLMs, the effectiveness of critique datasets and several intriguing relationships between the critique ability and some critical factors, including task types, response qualities and critique dimensions. Datasets and evaluation toolkit for CriticEval will be publicly released.

The programming skill is one crucial ability for Large Language Models (LLMs), necessitating a deep understanding of programming languages (PLs) and their correlation with natural languages (NLs). We examine the impact of pre-training data on code-focused LLMs' performance by assessing the comment density as a measure of PL-NL alignment. Given the scarcity of code-comment aligned data in pre-training corpora, we introduce a novel data augmentation method that generates comments for existing code, coupled with a data filtering strategy that filters out code data poorly correlated with natural language. We conducted experiments on three code-focused LLMs and observed consistent improvements in performance on two widely-used programming skill benchmarks. Notably, the model trained on the augmented data outperformed both the model used for generating comments and the model further trained on the data without augmentation.

The math abilities of large language models can represent their abstract reasoning ability. In this paper, we introduce and open-source our math reasoning LLMs InternLM-Math which is continue pre-trained from InternLM2. We unify chain-of-thought reasoning, reward modeling, formal reasoning, data augmentation, and code interpreter in a unified seq2seq format and supervise our model to be a versatile math reasoner, verifier, prover, and augmenter. These abilities can be used to develop the next math LLMs or self-iteration. InternLM-Math obtains open-sourced state-of-the-art performance under the setting of in-context learning, supervised fine-tuning, and code-assisted reasoning in various informal and formal benchmarks including GSM8K, MATH, Hungary math exam, MathBench-ZH, and MiniF2F. Our pre-trained model achieves 30.3 on the MiniF2F test set without fine-tuning. We further explore how to use LEAN to solve math problems and study its performance under the setting of multi-task learning which shows the possibility of using LEAN as a unified platform for solving and proving in math. Our models, codes, and data are released at \url{https://github.com/InternLM/InternLM-Math}.

We introduce InternLM-XComposer2, a cutting-edge vision-language model excelling in free-form text-image composition and comprehension. This model goes beyond conventional vision-language understanding, adeptly crafting interleaved text-image content from diverse inputs like outlines, detailed textual specifications, and reference images, enabling highly customizable content creation. InternLM-XComposer2 proposes a Partial LoRA (PLoRA) approach that applies additional LoRA parameters exclusively to image tokens to preserve the integrity of pre-trained language knowledge, striking a balance between precise vision understanding and text composition with literary talent. Experimental results demonstrate the superiority of InternLM-XComposer2 based on InternLM2-7B in producing high-quality long-text multi-modal content and its exceptional vision-language understanding performance across various benchmarks, where it not only significantly outperforms existing multimodal models but also matches or even surpasses GPT-4V and Gemini Pro in certain assessments. This highlights its remarkable proficiency in the realm of multimodal understanding. The InternLM-XComposer2 model series with 7B parameters are publicly available at https://github.com/InternLM/InternLM-XComposer., Comment: Code and models are available at https://github.com/InternLM/InternLM-XComposer

Recently, AI assistants based on large language models (LLMs) show surprising performance in many tasks, such as dialogue, solving math problems, writing code, and using tools. Although LLMs possess intensive world knowledge, they still make factual errors when facing some knowledge intensive tasks, like open-domain question answering. These untruthful responses from the AI assistant may cause significant risks in practical applications. We believe that an AI assistant's refusal to answer questions it does not know is a crucial method for reducing hallucinations and making the assistant truthful. Therefore, in this paper, we ask the question "Can AI assistants know what they don't know and express them through natural language?" To answer this question, we construct a model-specific "I don't know" (Idk) dataset for an assistant, which contains its known and unknown questions, based on existing open-domain question answering datasets. Then we align the assistant with its corresponding Idk dataset and observe whether it can refuse to answer its unknown questions after alignment. Experimental results show that after alignment with Idk datasets, the assistant can refuse to answer most its unknown questions. For questions they attempt to answer, the accuracy is significantly higher than before the alignment., Comment: Work in progress

In this work, we address various segmentation tasks, each traditionally tackled by distinct or partially unified models. We propose OMG-Seg, One Model that is Good enough to efficiently and effectively handle all the segmentation tasks, including image semantic, instance, and panoptic segmentation, as well as their video counterparts, open vocabulary settings, prompt-driven, interactive segmentation like SAM, and video object segmentation. To our knowledge, this is the first model to handle all these tasks in one model and achieve satisfactory performance. We show that OMG-Seg, a transformer-based encoder-decoder architecture with task-specific queries and outputs, can support over ten distinct segmentation tasks and yet significantly reduce computational and parameter overhead across various tasks and datasets. We rigorously evaluate the inter-task influences and correlations during co-training. Code and models are available at https://github.com/lxtGH/OMG-Seg., Comment: CVPR-2024. Project Page: https://lxtgh.github.io/project/omg_seg/

In the realm of computer vision and robotics, embodied agents are expected to explore their environment and carry out human instructions. This necessitates the ability to fully understand 3D scenes given their first-person observations and contextualize them into language for interaction. However, traditional research focuses more on scene-level input and output setups from a global view. To address the gap, we introduce EmbodiedScan, a multi-modal, ego-centric 3D perception dataset and benchmark for holistic 3D scene understanding. It encompasses over 5k scans encapsulating 1M ego-centric RGB-D views, 1M language prompts, 160k 3D-oriented boxes spanning over 760 categories, some of which partially align with LVIS, and dense semantic occupancy with 80 common categories. Building upon this database, we introduce a baseline framework named Embodied Perceptron. It is capable of processing an arbitrary number of multi-modal inputs and demonstrates remarkable 3D perception capabilities, both within the two series of benchmarks we set up, i.e., fundamental 3D perception tasks and language-grounded tasks, and in the wild. Codes, datasets, and benchmarks will be available at https://github.com/OpenRobotLab/EmbodiedScan., Comment: A multi-modal, ego-centric 3D perception dataset and benchmark for holistic 3D scene understanding. Project page: http://tai-wang.github.io/embodiedscan

Large language models (LLM) have achieved remarkable performance on various NLP tasks and are augmented by tools for broader applications. Yet, how to evaluate and analyze the tool-utilization capability of LLMs is still under-explored. In contrast to previous works that evaluate models holistically, we comprehensively decompose the tool utilization into multiple sub-processes, including instruction following, planning, reasoning, retrieval, understanding, and review. Based on that, we further introduce T-Eval to evaluate the tool utilization capability step by step. T-Eval disentangles the tool utilization evaluation into several sub-domains along model capabilities, facilitating the inner understanding of both holistic and isolated competency of LLMs. We conduct extensive experiments on T-Eval and in-depth analysis of various LLMs. T-Eval not only exhibits consistency with the outcome-oriented evaluation but also provides a more fine-grained analysis of the capabilities of LLMs, providing a new perspective in LLM evaluation on tool-utilization ability. The benchmark will be available at https://github.com/open-compass/T-Eval., Comment: Project: https://open-compass.github.io/T-Eval

Detecting objects accurately from a large or open vocabulary necessitates the vision-language alignment on region representations. However, learning such a region-text alignment by obtaining high-quality box annotations with text labels or descriptions is expensive and infeasible. In contrast, collecting image-text pairs is simpler but lacks precise object location information to associate regions with texts. In this paper, we propose a novel approach called Contrastive Language-Image Mosaic (CLIM), which leverages large-scale image-text pairs effectively for aligning region and text representations. CLIM combines multiple images into a mosaicked image and treats each image as a `pseudo region'. The feature of each pseudo region is extracted and trained to be similar to the corresponding text embedding while dissimilar from others by a contrastive loss, enabling the model to learn the region-text alignment without costly box annotations. As a generally applicable approach, CLIM consistently improves different open-vocabulary object detection methods that use caption supervision. Furthermore, CLIM can effectively enhance the region representation of vision-language models, thus providing stronger backbones for open-vocabulary object detectors. Our experimental results demonstrate that CLIM improves different baseline open-vocabulary object detectors by a large margin on both OV-COCO and OV-LVIS benchmarks. The code is available at https://github.com/wusize/CLIM.

While the pseudo-label method has demonstrated considerable success in semi-supervised object detection tasks, this paper uncovers notable limitations within this approach. Specifically, the pseudo-label method tends to amplify the inherent strengths of the detector while accentuating its weaknesses, which is manifested in the missed detection of pseudo-labels, particularly for small and tail category objects. To overcome these challenges, this paper proposes Mixed Pseudo Labels (MixPL), consisting of Mixup and Mosaic for pseudo-labeled data, to mitigate the negative impact of missed detections and balance the model's learning across different object scales. Additionally, the model's detection performance on tail categories is improved by resampling labeled data with relevant instances. Notably, MixPL consistently improves the performance of various detectors and obtains new state-of-the-art results with Faster R-CNN, FCOS, and DINO on COCO-Standard and COCO-Full benchmarks. Furthermore, MixPL also exhibits good scalability on large models, improving DINO Swin-L by 2.5% mAP and achieving nontrivial new records (60.2% mAP) on the COCO val2017 benchmark without extra annotations.

The growing awareness of safety concerns in large language models (LLMs) has sparked considerable interest in the evaluation of safety. This study investigates an under-explored issue about the evaluation of LLMs, namely the substantial discrepancy in performance between multiple-choice questions and open-ended questions. Inspired by research on jailbreak attack patterns, we argue this is caused by mismatched generalization. That is, LLM only remembers the answer style for open-ended safety questions, which makes it unable to solve other forms of safety tests. We refer to this phenomenon as fake alignment and construct a comparative benchmark to empirically verify its existence in LLMs. We introduce a Fake alIgNment Evaluation (FINE) framework and two novel metrics--Consistency Score (CS) and Consistent Safety Score (CSS), which jointly assess two complementary forms of evaluation to quantify fake alignment and obtain corrected performance estimation. Applying FINE to 14 widely-used LLMs reveals several models with purported safety are poorly aligned in practice. Subsequently, we found that multiple-choice format data can also be used as high-quality contrast distillation-based fine-tuning data, which can strongly improve the alignment consistency of LLMs with minimal fine-tuning overhead. For data and code, see https://github.com/AIFlames/Fake-Alignment., Comment: Accepted to the NAACL 2024

Segmenting and recognizing diverse object parts is a crucial ability in applications spanning various computer vision and robotic tasks. While significant progress has been made in object-level Open-Vocabulary Semantic Segmentation (OVSS), i.e., segmenting objects with arbitrary text, the corresponding part-level research poses additional challenges. Firstly, part segmentation inherently involves intricate boundaries, while limited annotated data compounds the challenge. Secondly, part segmentation introduces an open granularity challenge due to the diverse and often ambiguous definitions of parts in the open world. Furthermore, the large-scale vision and language models, which play a key role in the open vocabulary setting, struggle to recognize parts as effectively as objects. To comprehensively investigate and tackle these challenges, we propose an Open-Vocabulary Part Segmentation (OV-PARTS) benchmark. OV-PARTS includes refined versions of two publicly available datasets: Pascal-Part-116 and ADE20K-Part-234. And it covers three specific tasks: Generalized Zero-Shot Part Segmentation, Cross-Dataset Part Segmentation, and Few-Shot Part Segmentation, providing insights into analogical reasoning, open granularity and few-shot adapting abilities of models. Moreover, we analyze and adapt two prevailing paradigms of existing object-level OVSS methods for OV-PARTS. Extensive experimental analysis is conducted to inspire future research in leveraging foundational models for OV-PARTS. The code and dataset are available at https://github.com/OpenRobotLab/OV_PARTS., Comment: Accepted by NeurIPS Dataset and Benchmark Track 2023

In this paper, we establish a benchmark named HalluQA (Chinese Hallucination Question-Answering) to measure the hallucination phenomenon in Chinese large language models. HalluQA contains 450 meticulously designed adversarial questions, spanning multiple domains, and takes into account Chinese historical culture, customs, and social phenomena. During the construction of HalluQA, we consider two types of hallucinations: imitative falsehoods and factual errors, and we construct adversarial samples based on GLM-130B and ChatGPT. For evaluation, we design an automated evaluation method using GPT-4 to judge whether a model output is hallucinated. We conduct extensive experiments on 24 large language models, including ERNIE-Bot, Baichuan2, ChatGLM, Qwen, SparkDesk and etc. Out of the 24 models, 18 achieved non-hallucination rates lower than 50%. This indicates that HalluQA is highly challenging. We analyze the primary types of hallucinations in different types of models and their causes. Additionally, we discuss which types of hallucinations should be prioritized for different types of models., Comment: Work in progress

Open-vocabulary dense prediction tasks including object detection and image segmentation have been advanced by the success of Contrastive Language-Image Pre-training (CLIP). CLIP models, particularly those incorporating vision transformers (ViTs), have exhibited remarkable generalization ability in zero-shot image classification. However, when transferring the vision-language alignment of CLIP from global image representation to local region representation for the open-vocabulary dense prediction tasks, CLIP ViTs suffer from the domain shift from full images to local image regions. In this paper, we embark on an in-depth analysis of the region-language alignment in CLIP models, which is essential for downstream open-vocabulary dense prediction tasks. Subsequently, we propose an approach named CLIPSelf, which adapts the image-level recognition ability of CLIP ViT to local image regions without needing any region-text pairs. CLIPSelf empowers ViTs to distill itself by aligning a region representation extracted from its dense feature map with the image-level representation of the corresponding image crop. With the enhanced CLIP ViTs, we achieve new state-of-the-art performance on open-vocabulary object detection, semantic segmentation, and panoptic segmentation across various benchmarks. Models and code are released at https://github.com/wusize/CLIPSelf.

Open-vocabulary object detection (OVOD) aims to detect the objects beyond the set of classes observed during training. This work introduces a straightforward and efficient strategy that utilizes pre-trained vision-language models (VLM), like CLIP, to identify potential novel classes through zero-shot classification. Previous methods use a class-agnostic region proposal network to detect object proposals and consider the proposals that do not match the ground truth as background. Unlike these methods, our method will select a subset of proposals that will be considered as background during the training. Then, we treat them as novel classes during training. We refer to this approach as the self-training strategy, which enhances recall and accuracy for novel classes without requiring extra annotations, datasets, and re-training. Compared to previous pseudo methods, our approach does not require re-training and offline labeling processing, which is more efficient and effective in one-shot training. Empirical evaluations on three datasets, including LVIS, V3Det, and COCO, demonstrate significant improvements over the baseline performance without incurring additional parameters or computational costs during inference. In addition, we also apply our method to various baselines. In particular, compared with the previous method, F-VLM, our method achieves a 1.7% improvement on the LVIS dataset. Combined with the recent method CLIPSelf, our method also achieves 46.7 novel class AP on COCO without introducing extra data for pertaining. We also achieve over 6.5% improvement over the F-VLM baseline in the recent challenging V3Det dataset. We release our code and models at https://github.com/xushilin1/dst-det.

We propose InternLM-XComposer, a vision-language large model that enables advanced image-text comprehension and composition. The innovative nature of our model is highlighted by three appealing properties: 1) Interleaved Text-Image Composition: InternLM-XComposer can effortlessly generate coherent and contextual articles that seamlessly integrate images, providing a more engaging and immersive reading experience. Simply provide a writing instruction, and our system will generate the corresponding manuscript. It can intelligently identify the areas in the text where images would enhance the content and automatically insert the most appropriate visual candidates. 2) Comprehension with Rich Multilingual Knowledge: The text-image comprehension is empowered by training on an extensive multi-modal multilingual database with carefully crafted strategies, resulting in a deep understanding of visual content. 3) State-of-the-art Performance: Our model consistently achieves state-of-the-art results across various mainstream benchmarks for vision-language foundational models, including MME Benchmark, MMBench, MMBench-CN, Seed-Bench, CCBench (Chinese Cultural Benchmark), QBench and Tiny LVLM. Owing to the absence of established metrics for quantitatively assessing text-image composition, we have devised a robust evaluation procedure that comprises both human and GPT4-Vision (GPT4-V) to ensure reliability. Notably, our InternLM-XComposer achieves competitive text-image composition scores compared to public solutions, including GPT4-V and GPT3.5. Collectively, InternLM-XComposer seamlessly blends advanced text-image comprehension and composition, revolutionizing vision-language interaction and offering new insights and opportunities. The InternLM-XComposer model series are publicly available at https://github.com/InternLM/InternLM-XComposer., Comment: Code and models are available at https://github.com/InternLM/InternLM-XComposer

Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with class labels or text descriptions) of 3D scenes. Previous approaches leverage large-scale richly-annotated image datasets as a bridge between 3D and category semantics but require an extra alignment process between 2D images and 3D points, limiting the open-vocabulary ability of 3D detectors. Instead of leveraging 2D images, we propose Object2Scene, the first approach that leverages large-scale large-vocabulary 3D object datasets to augment existing 3D scene datasets for open-vocabulary 3D object detection. Object2Scene inserts objects from different sources into 3D scenes to enrich the vocabulary of 3D scene datasets and generates text descriptions for the newly inserted objects. We further introduce a framework that unifies 3D detection and visual grounding, named L3Det, and propose a cross-domain category-level contrastive learning approach to mitigate the domain gap between 3D objects from different datasets. Extensive experiments on existing open-vocabulary 3D object detection benchmarks show that Object2Scene obtains superior performance over existing methods. We further verify the effectiveness of Object2Scene on a new benchmark OV-ScanNet-200, by holding out all rare categories as novel categories not seen during training., Comment: 17 pages, 7 figures, 9 tables

Human-Scene Interaction (HSI) is a vital component of fields like embodied AI and virtual reality. Despite advancements in motion quality and physical plausibility, two pivotal factors, versatile interaction control and the development of a user-friendly interface, require further exploration before the practical application of HSI. This paper presents a unified HSI framework, UniHSI, which supports unified control of diverse interactions through language commands. This framework is built upon the definition of interaction as Chain of Contacts (CoC): steps of human joint-object part pairs, which is inspired by the strong correlation between interaction types and human-object contact regions. Based on the definition, UniHSI constitutes a Large Language Model (LLM) Planner to translate language prompts into task plans in the form of CoC, and a Unified Controller that turns CoC into uniform task execution. To facilitate training and evaluation, we collect a new dataset named ScenePlan that encompasses thousands of task plans generated by LLMs based on diverse scenarios. Comprehensive experiments demonstrate the effectiveness of our framework in versatile task execution and generalizability to real scanned scenes. The project page is at https://github.com/OpenRobotLab/UniHSI ., Comment: A unified Human-Scene Interaction framework that supports versatile interactions through language commands.Project URL: https://xizaoqu.github.io/unihsi/ . Code: https://github.com/OpenRobotLab/UniHSI

Visual instruction tuning large language model(LLM) on image-text pairs has achieved general-purpose vision-language abilities. However, the lack of region-text pairs limits their advancements to fine-grained multimodal understanding. In this paper, we propose spatial instruction tuning, which introduces the reference to the region-of-interest(RoI) in the instruction. Before sending to LLM, the reference is replaced by RoI features and interleaved with language embeddings as a sequence. Our model GPT4RoI, trained on 7 region-text pair datasets, brings an unprecedented interactive and conversational experience compared to previous image-level models. (1) Interaction beyond language: Users can interact with our model by both language and drawing bounding boxes to flexibly adjust the referring granularity. (2) Versatile multimodal abilities: A variety of attribute information within each RoI can be mined by GPT4RoI, e.g., color, shape, material, action, etc. Furthermore, it can reason about multiple RoIs based on common sense. On the Visual Commonsense Reasoning(VCR) dataset, GPT4RoI achieves a remarkable accuracy of 81.6%, surpassing all existing models by a significant margin (the second place is 75.6%) and almost reaching human-level performance of 85.0%. The code, dataset, and demo can be found at https://github.com/jshilong/GPT4RoI., Comment: Code has been released at https://github.com/jshilong/GPT4RoI

Recent advancements in vision foundation models (VFMs) have opened up new possibilities for versatile and efficient visual perception. In this work, we introduce Seal, a novel framework that harnesses VFMs for segmenting diverse automotive point cloud sequences. Seal exhibits three appealing properties: i) Scalability: VFMs are directly distilled into point clouds, obviating the need for annotations in either 2D or 3D during pretraining. ii) Consistency: Spatial and temporal relationships are enforced at both the camera-to-LiDAR and point-to-segment regularization stages, facilitating cross-modal representation learning. iii) Generalizability: Seal enables knowledge transfer in an off-the-shelf manner to downstream tasks involving diverse point clouds, including those from real/synthetic, low/high-resolution, large/small-scale, and clean/corrupted datasets. Extensive experiments conducted on eleven different point cloud datasets showcase the effectiveness and superiority of Seal. Notably, Seal achieves a remarkable 45.0% mIoU on nuScenes after linear probing, surpassing random initialization by 36.9% mIoU and outperforming prior arts by 6.1% mIoU. Moreover, Seal demonstrates significant performance gains over existing methods across 20 different few-shot fine-tuning tasks on all eleven tested point cloud datasets., Comment: NeurIPS 2023 (Spotlight); 37 pages, 16 figures, 15 tables; Code at https://github.com/youquanl/Segment-Any-Point-Cloud

We present a vision and language model named MultiModal-GPT to conduct multi-round dialogue with humans. MultiModal-GPT can follow various instructions from humans, such as generating a detailed caption, counting the number of interested objects, and answering general questions from users. MultiModal-GPT is parameter-efficiently fine-tuned from OpenFlamingo, with Low-rank Adapter (LoRA) added both in the cross-attention part and the self-attention part of the language model. We first construct instruction templates with vision and language data for multi-modality instruction tuning to make the model understand and follow human instructions. We find the quality of training data is vital for the dialogue performance, where few data containing short answers can lead the model to respond shortly to any instructions. To further enhance the ability to chat with humans of the MultiModal-GPT, we utilize language-only instruction-following data to train the MultiModal-GPT jointly. The joint training of language-only and visual-language instructions with the \emph{same} instruction template effectively improves dialogue performance. Various demos show the ability of continuous dialogue of MultiModal-GPT with humans. Code, dataset, and demo are at https://github.com/open-mmlab/Multimodal-GPT, Comment: 10 pages, 8 figures