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Evaluating Large Language Models (LLMs) in open-ended scenarios is challenging because existing benchmarks and metrics can not measure them comprehensively. To address this problem, we propose to fine-tune LLMs as scalable judges (JudgeLM) to evaluate LLMs efficiently and effectively in open-ended benchmarks. We first propose a comprehensive, large-scale, high-quality dataset containing task seeds, LLMs-generated answers, and GPT-4-generated judgments for fine-tuning high-performance judges, as well as a new benchmark for evaluating the judges. We train JudgeLM at different scales from 7B, 13B, to 33B parameters, and conduct a systematic analysis of its capabilities and behaviors. We then analyze the key biases in fine-tuning LLM as a judge and consider them as position bias, knowledge bias, and format bias. To address these issues, JudgeLM introduces a bag of techniques including swap augmentation, reference support, and reference drop, which clearly enhance the judge's performance. JudgeLM obtains the state-of-the-art judge performance on both the existing PandaLM benchmark and our proposed new benchmark. Our JudgeLM is efficient and the JudgeLM-7B only needs 3 minutes to judge 5K samples with 8 A100 GPUs. JudgeLM obtains high agreement with the teacher judge, achieving an agreement exceeding 90% that even surpasses human-to-human agreement. JudgeLM also demonstrates extended capabilities in being judges of the single answer, multimodal models, multiple answers, and multi-turn chat.

It is a long-term vision for Autonomous Driving (AD) community that the perception models can learn from a large-scale point cloud dataset, to obtain unified representations that can achieve promising results on different tasks or benchmarks. Previous works mainly focus on the self-supervised pre-training pipeline, meaning that they perform the pre-training and fine-tuning on the same benchmark, which is difficult to attain the performance scalability and cross-dataset application for the pre-training checkpoint. In this paper, for the first time, we are committed to building a large-scale pre-training point-cloud dataset with diverse data distribution, and meanwhile learning generalizable representations from such a diverse pre-training dataset. We formulate the point-cloud pre-training task as a semi-supervised problem, which leverages the few-shot labeled and massive unlabeled point-cloud data to generate the unified backbone representations that can be directly applied to many baseline models and benchmarks, decoupling the AD-related pre-training process and downstream fine-tuning task. During the period of backbone pre-training, by enhancing the scene- and instance-level distribution diversity and exploiting the backbone's ability to learn from unknown instances, we achieve significant performance gains on a series of downstream perception benchmarks including Waymo, nuScenes, and KITTI, under different baseline models like PV-RCNN++, SECOND, CenterPoint.

Disfluency correction (DC) is the process of removing disfluent elements like fillers, repetitions and corrections from spoken utterances to create readable and interpretable text. DC is a vital post-processing step applied to Automatic Speech Recognition (ASR) outputs, before subsequent processing by downstream language understanding tasks. Existing DC research has primarily focused on English due to the unavailability of large-scale open-source datasets. Towards the goal of multilingual disfluency correction, we present a high-quality human-annotated DC corpus covering four important Indo-European languages: English, Hindi, German and French. We provide extensive analysis of results of state-of-the-art DC models across all four languages obtaining F1 scores of 97.55 (English), 94.29 (Hindi), 95.89 (German) and 92.97 (French). To demonstrate the benefits of DC on downstream tasks, we show that DC leads to 5.65 points increase in BLEU scores on average when used in conjunction with a state-of-the-art Machine Translation (MT) system. We release code to run our experiments along with our annotated dataset here.

We present MsATL: the first tool for deciding the satisfiability of Alternating-time Temporal Logic (ATL) with imperfect information. MsATL combines SAT Modulo Monotonic Theories solvers with existing ATL model checkers: MCMAS and STV. The tool can deal with various semantics of ATL, including perfect and imperfect information, and can handle additional practical requirements. MsATL can be applied for synthesis of games that conform to a given specification, with the synthesised game often being minimal.

We introduce GLM-130B, a bilingual (English and Chinese) pre-trained language model with 130 billion parameters. It is an attempt to open-source a 100B-scale model at least as good as GPT-3 (davinci) and unveil how models of such a scale can be successfully pre-trained. Over the course of this effort, we face numerous unexpected technical and engineering challenges, particularly on loss spikes and divergence. In this paper, we introduce the training process of GLM-130B including its design choices, training strategies for both efficiency and stability, and engineering efforts. The resultant GLM-130B model offers significant outperformance over GPT-3 175B (davinci) on a wide range of popular English benchmarks while the performance advantage is not observed in OPT-175B and BLOOM-176B. It also consistently and significantly outperforms ERNIE TITAN 3.0 260B -- the largest Chinese language model -- across related benchmarks. Finally, we leverage a unique scaling property of GLM-130B to reach INT4 quantization without post training, with almost no performance loss, making it the first among 100B-scale models and more importantly, allowing its effective inference on 4$\times$RTX 3090 (24G) or 8$\times$RTX 2080 Ti (11G) GPUs, the most affordable GPUs required for using 100B-scale models. The GLM-130B model weights are publicly accessible and its code, training logs, related toolkit, and lessons learned are open-sourced at \url{//github.com/THUDM/GLM-130B/}.

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to appearance variances and stylistic dissimilarities between camera and reference imagery, or operate under the assumption of a known initial pose. In this paper, we developed a GNSS-denied localization approach for UAVs that harnesses both Visual-Inertial Odometry (VIO) and Visual Place Recognition (VPR) using a foundation model. This paper presents a novel vision-based pipeline that works exclusively with a nadir-facing camera, an Inertial Measurement Unit (IMU), and pre-existing satellite imagery for robust, accurate localization in varied environments and conditions. Our system demonstrated average localization accuracy within a $20$-meter range, with a minimum error below $1$ meter, under real-world conditions marked by drastic changes in environmental appearance and with no assumption of the vehicle's initial pose. The method is proven to be effective and robust, addressing the crucial need for reliable UAV localization in GNSS-denied environments, while also being computationally efficient enough to be deployed on resource-constrained platforms.

Object detectors usually achieve promising results with the supervision of complete instance annotations. However, their performance is far from satisfactory with sparse instance annotations. Most existing methods for sparsely annotated object detection either re-weight the loss of hard negative samples or convert the unlabeled instances into ignored regions to reduce the interference of false negatives. We argue that these strategies are insufficient since they can at most alleviate the negative effect caused by missing annotations. In this paper, we propose a simple but effective mechanism, called Co-mining, for sparsely annotated object detection. In our Co-mining, two branches of a Siamese network predict the pseudo-label sets for each other. To enhance multi-view learning and better mine unlabeled instances, the original image and corresponding augmented image are used as the inputs of two branches of the Siamese network, respectively. Co-mining can serve as a general training mechanism applied to most of modern object detectors. Experiments are performed on MS COCO dataset with three different sparsely annotated settings using two typical frameworks: anchor-based detector RetinaNet and anchor-free detector FCOS. Experimental results show that our Co-mining with RetinaNet achieves 1.4%~2.1% improvements compared with different baselines and surpasses existing methods under the same sparsely annotated setting.

With the rise of knowledge graph (KG), question answering over knowledge base (KBQA) has attracted increasing attention in recent years. Despite much research has been conducted on this topic, it is still challenging to apply KBQA technology in industry because business knowledge and real-world questions can be rather complicated. In this paper, we present AliMe-KBQA, a bold attempt to apply KBQA in the E-commerce customer service field. To handle real knowledge and questions, we extend the classic "subject-predicate-object (SPO)" structure with property hierarchy, key-value structure and compound value type (CVT), and enhance traditional KBQA with constraints recognition and reasoning ability. We launch AliMe-KBQA in the Marketing Promotion scenario for merchants during the "Double 11" period in 2018 and other such promotional events afterwards. Online results suggest that AliMe-KBQA is not only able to gain better resolution and improve customer satisfaction, but also becomes the preferred knowledge management method by business knowledge staffs since it offers a more convenient and efficient management experience.

The problem of Multiple Object Tracking (MOT) consists in following the trajectory of different objects in a sequence, usually a video. In recent years, with the rise of Deep Learning, the algorithms that provide a solution to this problem have benefited from the representational power of deep models. This paper provides a comprehensive survey on works that employ Deep Learning models to solve the task of MOT on single-camera videos. Four main steps in MOT algorithms are identified, and an in-depth review of how Deep Learning was employed in each one of these stages is presented. A complete experimental comparison of the presented works on the three MOTChallenge datasets is also provided, identifying a number of similarities among the top-performing methods and presenting some possible future research directions.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.