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The authors introduce DataComp for Language Models (DCLM), a testbed for controlled dataset experiments aimed at improving language models. DCLM provides a standardized corpus of 240T tokens extracted from Common Crawl, effective pretraining recipes based on the OpenLM framework, and a broad suite of 53 downstream evaluations. Participants can experiment with dataset curation strategies such as deduplication, filtering, and data mixing at model scales ranging from 412M to 7B parameters. As a baseline, the authors find that model-based filtering is critical for assembling a high-quality training set. Their resulting dataset, DCLM-Baseline, enables training a 7B parameter model from scratch to achieve 64% 5-shot accuracy on MMLU with 2.6T training tokens. This represents a 6.6 percentage point improvement over MAP-Neo (the previous state-of-the-art in open-data LMs), while using 40% less compute. The baseline model is also comparable to Mistral-7B-v0.3 and Llama 3 8B on MMLU (63% and 66%), and performs similarly on an average of 53 NLU tasks, while using 6.6x less compute than Llama 3 8B. These findings emphasize the importance of dataset design for training LMs and establish a foundation for further research on data curation. 

Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data collection and careful tuning. This process must be repeated whenever the parameters of the camera change, which can be a frequent occurrence for mobile robots and autonomous vehicles. In contrast, self-supervised depth and ego-motion estimation approaches can bypass explicit calibration by in-ferring per-frame projection models that optimize a view-synthesis objective. In this paper, we extend this approach to explicitly calibrate a wide range of cameras from raw videos in the wild. We propose a learning algorithm to regress per-sequence calibration parameters using an efficient family of general camera models. Our procedure achieves self-calibration results with sub-pixel reprojection error, outperforming other learning-based methods. We validate our approach on a wide variety of camera geometries, including perspective, fisheye, and catadioptric. Finally, we show that our approach leads to improvements in the downstream task of depth estimation, achieving state-of-the-art results on the EuRoC dataset with greater computational efficiency than contemporary methods.