MLLM-Bench, Evaluating Multi-modal LLMs using GPT-4V

In the pursuit of Artificial General Intelligence (AGI), the integration of vision in language models has marked a significant milestone. The advent of vision-language models (MLLMs) like GPT-4V have expanded AI applications, aligning with the multi-modal capabilities of the human brain. However, evaluating the efficacy of MLLMs poses a substantial challenge due to the subjective nature of tasks that lack definitive answers. Existing automatic evaluation methodologies on multi-modal large language models rely on objective queries that have standard answers, inadequately addressing the nuances of creative and associative multi-modal tasks. To address this, we introduce MLLM-Bench, an innovative benchmark inspired by Vicuna, spanning a diverse array of scenarios, including Perception, Understanding, Applying, Analyzing, Evaluating, and Creation along with the ethical consideration. MLLM-Bench is designed to reflect user experience more accurately and provide a more holistic assessment of model performance. Comparative evaluations indicate a significant performance gap between existing open-source models and GPT-4V. We posit that MLLM-Bench will catalyze progress in the open-source community towards developing user-centric vision-language models that meet a broad spectrum of real-world applications. See online leaderboard in \url{https://mllm-bench.llmzoo.com}.

HuatuoGPT-II, One-stage Training for Medical Adaption of LLMs

Adapting a language model into a specific domain, a.k.a `domain adaption', is a common practice when specialized knowledge, e.g. medicine, is not encapsulated in a general language model like Llama2. The challenge lies in the heterogeneity of data across the two training stages, as it varies in languages, genres, or formats. To tackle this and simplify the learning protocol, we propose to transform heterogeneous data, from the both pre-training and supervised stages, into a unified, simple input-output pair format. We validate the new protocol in the domains where proprietary LLMs like ChatGPT perform relatively poorly, such as Traditional Chinese Medicine. The developed model, HuatuoGPT-II, has shown state-of-the-art performance in Chinese medicine domain on a number of benchmarks, e.g. medical licensing exams. It even outperforms proprietary models like ChatGPT and GPT-4 in some aspects, especially in Traditional Chinese Medicine. Expert manual evaluations further validate HuatuoGPT-II's advantages over existing LLMs. Notably, HuatuoGPT-II was benchmarked in a fresh Chinese National Medical Licensing Examination where it achieved the best performance, showcasing not only its effectiveness but also its generalization capabilities.

Coarse-to-fine Hybrid 3D Mapping System with Co-calibrated Omnidirectional Camera and Non-repetitive LiDAR

This paper presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic targetless co-calibration method is proposed to simultaneously calibrate the intrinsic parameters for the omnidirectional camera and the extrinsic parameters for the camera and LiDAR, which is crucial for the required step in bringing color and texture information to the point clouds in surveying and mapping tasks. Comparisons and analyses are made to target-based intrinsic calibration and mutual information (MI)-based extrinsic calibration, respectively. With this co-calibrated sensor suite, the hybrid mapping robot integrates both the odometry-based mapping mode and stationary mapping mode. Meanwhile, we proposed a new workflow to achieve coarse-to-fine mapping, including efficient and coarse mapping in a global environment with odometry-based mapping mode; planning for viewpoints in the region-of-interest (ROI) based on the coarse map (relies on the previous work); navigating to each viewpoint and performing finer and more precise stationary scanning and mapping of the ROI. The fine map is stitched with the global coarse map, which provides a more efficient and precise result than the conventional stationary approaches and the emerging odometry-based approaches, respectively.