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Large Language Models are typically trained with next-turn rewards, limiting their ability to optimize for long-term interaction. As a result, they often respond passively to ambiguous or open-ended user requests, failing to help users reach their ultimate intents and leading to inefficient conversations. To address these limitations, we introduce COLLABLLM, a novel and general training framework that enhances multiturn human-LLM collaboration. Its key innovation is a collaborative simulation that estimates the long-term contribution of responses using Multiturn-aware Rewards. By reinforcement fine-tuning these rewards, COLLABLLM goes beyond responding to user requests, and actively uncovers user intent and offers insightful suggestions—a key step towards more humancentered AI. We also devise a multiturn interaction benchmark with three challenging tasks such as document creation. COLLABLLM significantly outperforms our baselines with averages of 18.5% higher task performance and 46.3% improved interactivity by LLM judges. Finally, we conduct a large user study with 201 judges, where COLLABLLM increases user satisfaction by 17.6% and reduces user spent time by 10.4%. 

Language models have shown promise in various tasks but can be affected by undesired data during training, fine-tuning, or alignment. For example, if some unsafe conversations are wrongly annotated as safe ones, the model fine-tuned on these samples may be harmful. Therefore, the correctness of annotations, i.e., the credibility of the dataset, is important. This study focuses on the credibility of real-world datasets, including the popular benchmarks Jigsaw Civil Comments, Anthropic Harmless & Red Team, PKU BeaverTails & SafeRLHF, that can be used for training a harmless language model. Given the cost and difficulty of cleaning these datasets by humans, we introduce a systematic framework for evaluating the credibility of datasets, identifying label errors, and evaluating the influence of noisy labels in the curated language data, specifically focusing on unsafe comments and conversation classification. With the framework, we find and fix an average of 6.16% label errors in 11 datasets constructed from the above benchmarks. The data credibility and downstream learning performance can be remarkably improved by directly fixing label errors, indicating the significance of cleaning existing real-world datasets. 

Frog-legged robots are commonly used for silicon wafer handling in semiconductor manufacturing. However, their precision, speed and versatility are limited by vibration which varies with their position in the workspace. This paper proposes a methodology for modelling the pose-dependent vibration of a frog-legged robot as a function of its changing inertia, and its experimentally-identified joint stiffness and damping. The model is used to design a feedforward tracking controller for compensating the pose-dependent vibration of the robot. In experiments, the proposed method yields 65–73% reduction in RMS tracking error compared to a baseline controller designed for specific poses of the robot. 

The noise transition matrix plays a central role in the problem of learning with noisy labels. Among many other reasons, a large number of existing solutions rely on access to it. Identifying and estimating the transition matrix without ground truth labels is a critical and challenging task. When label noise transition depends on each instance, the problem of identifying the instance-dependent noise transition matrix becomes substantially more challenging. Despite recent works proposing solutions for learning from instance-dependent noisy labels, the field lacks a unified understanding of when such a problem remains identifiable. The goal of this paper is to characterize the identifiability of the label noise transition matrix. Building on Kruskal's identifiability results, we are able to show the necessity of multiple noisy labels in identifying the noise transition matrix for the generic case at the instance level. We further instantiate the results to explain the successes of the state-of-the-art solutions and how additional assumptions alleviated the requirement of multiple noisy labels. Our result also reveals that disentangled features are helpful in the above identification task and we provide empirical evidence.