GPT-4o System Card

GPT-4o is an autoregressive omni model that accepts as input any combination of text, audio, image, and video, and generates any combination of text, audio, and image outputs. It's trained end-to-end across text, vision, and audio, meaning all inputs and outputs are processed by the same neural network. GPT-4o can respond to audio inputs in as little as 232 milliseconds, with an average of 320 milliseconds, which is similar to human response time in conversation. It matches GPT-4 Turbo performance on text in English and code, with significant improvement on text in non-English languages, while also being much faster and 50\% cheaper in the API. GPT-4o is especially better at vision and audio understanding compared to existing models. In line with our commitment to building AI safely and consistent with our voluntary commitments to the White House, we are sharing the GPT-4o System Card, which includes our Preparedness Framework evaluations. In this System Card, we provide a detailed look at GPT-4o's capabilities, limitations, and safety evaluations across multiple categories, focusing on speech-to-speech while also evaluating text and image capabilities, and measures we've implemented to ensure the model is safe and aligned. We also include third-party assessments on dangerous capabilities, as well as discussion of potential societal impacts of GPT-4o's text and vision capabilities.

Modeling Layout Reading Order as Ordering Relations for Visually-rich Document Understanding

Modeling and leveraging layout reading order in visually-rich documents (VrDs) is critical in document intelligence as it captures the rich structure semantics within documents. Previous works typically formulated layout reading order as a permutation of layout elements, i.e. a sequence containing all the layout elements. However, we argue that this formulation does not adequately convey the complete reading order information in the layout, which may potentially lead to performance decline in downstream VrD tasks. To address this issue, we propose to model the layout reading order as ordering relations over the set of layout elements, which have sufficient expressive capability for the complete reading order information. To enable empirical evaluation on methods towards the improved form of reading order prediction (ROP), we establish a comprehensive benchmark dataset including the reading order annotation as relations over layout elements, together with a relation-extraction-based method that outperforms previous methods. Moreover, to highlight the practical benefits of introducing the improved form of layout reading order, we propose a reading-order-relation-enhancing pipeline to improve model performance on any arbitrary VrD task by introducing additional reading order relation inputs. Comprehensive results demonstrate that the pipeline generally benefits downstream VrD tasks: (1) with utilizing the reading order relation information, the enhanced downstream models achieve SOTA results on both two task settings of the targeted dataset; (2) with utilizing the pseudo reading order information generated by the proposed ROP model, the performance of the enhanced models has improved across all three models and eight cross-domain VrD-IE/QA task settings without targeted optimization.

Emotional Dimension Control in Language Model-Based Text-to-Speech: Spanning a Broad Spectrum of Human Emotions

Current emotional text-to-speech (TTS) systems face challenges in mimicking a broad spectrum of human emotions due to the inherent complexity of emotions and limitations in emotional speech datasets and models. This paper proposes a TTS framework that facilitates control over pleasure, arousal, and dominance, and can synthesize a diversity of emotional styles without requiring any emotional speech data during TTS training. We train an emotional attribute predictor using only categorical labels from speech data, aligning with psychological research and incorporating anchored dimensionality reduction on self-supervised learning (SSL) features. The TTS framework converts text inputs into phonetic tokens via an autoregressive language model and uses pseudo-emotional dimensions to guide the parallel prediction of fine-grained acoustic details. Experiments conducted on the LibriTTS dataset demonstrate that our framework can synthesize speech with enhanced naturalness and a variety of emotional styles by effectively controlling emotional dimensions, even without the inclusion of any emotional speech during TTS training.

Uplink Over-the-Air Aggregation for Multi-Model Wireless Federated Learning

We propose an uplink over-the-air aggregation (OAA) method for wireless federated learning (FL) that simultaneously trains multiple models. To maximize the multi-model training convergence rate, we derive an upper bound on the optimality gap of the global model update, and then, formulate an uplink joint transmit-receive beamforming optimization problem to minimize this upper bound. We solve this problem using the block coordinate descent approach, which admits low-complexity closed-form updates. Simulation results show that our proposed multi-model FL with fast OAA substantially outperforms sequentially training multiple models under the conventional single-model approach.

UNER: A Unified Prediction Head for Named Entity Recognition in Visually-rich Documents

The recognition of named entities in visually-rich documents (VrD-NER) plays a critical role in various real-world scenarios and applications. However, the research in VrD-NER faces three major challenges: complex document layouts, incorrect reading orders, and unsuitable task formulations. To address these challenges, we propose a query-aware entity extraction head, namely UNER, to collaborate with existing multi-modal document transformers to develop more robust VrD-NER models. The UNER head considers the VrD-NER task as a combination of sequence labeling and reading order prediction, effectively addressing the issues of discontinuous entities in documents. Experimental evaluations on diverse datasets demonstrate the effectiveness of UNER in improving entity extraction performance. Moreover, the UNER head enables a supervised pre-training stage on various VrD-NER datasets to enhance the document transformer backbones and exhibits substantial knowledge transfer from the pre-training stage to the fine-tuning stage. By incorporating universal layout understanding, a pre-trained UNER-based model demonstrates significant advantages in few-shot and cross-linguistic scenarios and exhibits zero-shot entity extraction abilities.

Multi-task Prompt Words Learning for Social Media Content Generation

The rapid development of the Internet has profoundly changed human life. Humans are increasingly expressing themselves and interacting with others on social media platforms. However, although artificial intelligence technology has been widely used in many aspects of life, its application in social media content creation is still blank. To solve this problem, we propose a new prompt word generation framework based on multi-modal information fusion, which combines multiple tasks including topic classification, sentiment analysis, scene recognition and keyword extraction to generate more comprehensive prompt words. Subsequently, we use a template containing a set of prompt words to guide ChatGPT to generate high-quality tweets. Furthermore, in the absence of effective and objective evaluation criteria in the field of content generation, we use the ChatGPT tool to evaluate the results generated by the algorithm, making large-scale evaluation of content generation algorithms possible. Evaluation results on extensive content generation demonstrate that our cue word generation framework generates higher quality content compared to manual methods and other cueing techniques, while topic classification, sentiment analysis, and scene recognition significantly enhance content clarity and its consistency with the image.

Skip-Layer Attention: Bridging Abstract and Detailed Dependencies in Transformers

The Transformer architecture has significantly advanced deep learning, particularly in natural language processing, by effectively managing long-range dependencies. However, as the demand for understanding complex relationships grows, refining the Transformer's architecture becomes critical. This paper introduces Skip-Layer Attention (SLA) to enhance Transformer models by enabling direct attention between non-adjacent layers. This method improves the model's ability to capture dependencies between high-level abstract features and low-level details. By facilitating direct attention between these diverse feature levels, our approach overcomes the limitations of current Transformers, which often rely on suboptimal intra-layer attention. Our implementation extends the Transformer's functionality by enabling queries in a given layer to interact with keys and values from both the current layer and one preceding layer, thus enhancing the diversity of multi-head attention without additional computational burden. Extensive experiments demonstrate that our enhanced Transformer model achieves superior performance in language modeling tasks, highlighting the effectiveness of our skip-layer attention mechanism.

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

We present OmniH2O (Omni Human-to-Humanoid), a learning-based system for whole-body humanoid teleoperation and autonomy. Using kinematic pose as a universal control interface, OmniH2O enables various ways for a human to control a full-sized humanoid with dexterous hands, including using real-time teleoperation through VR headset, verbal instruction, and RGB camera. OmniH2O also enables full autonomy by learning from teleoperated demonstrations or integrating with frontier models such as GPT-4. OmniH2O demonstrates versatility and dexterity in various real-world whole-body tasks through teleoperation or autonomy, such as playing multiple sports, moving and manipulating objects, and interacting with humans. We develop an RL-based sim-to-real pipeline, which involves large-scale retargeting and augmentation of human motion datasets, learning a real-world deployable policy with sparse sensor input by imitating a privileged teacher policy, and reward designs to enhance robustness and stability. We release the first humanoid whole-body control dataset, OmniH2O-6, containing six everyday tasks, and demonstrate humanoid whole-body skill learning from teleoperated datasets.

WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts

Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on simplified dynamics models. Although model-free reinforcement learning (RL) has become a powerful tool for versatile and robust whole-body humanoid control, it still requires tedious task-specific tuning and state machine design and suffers from long-horizon exploration issues in tasks involving contact sequences. In this work, we propose WoCoCo (Whole-Body Control with Sequential Contacts), a unified framework to learn whole-body humanoid control with sequential contacts by naturally decomposing the tasks into separate contact stages. Such decomposition facilitates simple and general policy learning pipelines through task-agnostic reward and sim-to-real designs, requiring only one or two task-related terms to be specified for each task. We demonstrated that end-to-end RL-based controllers trained with WoCoCo enable four challenging whole-body humanoid tasks involving diverse contact sequences in the real world without any motion priors: 1) versatile parkour jumping, 2) box loco-manipulation, 3) dynamic clap-and-tap dancing, and 4) cliffside climbing. We further show that WoCoCo is a general framework beyond humanoid by applying it in 22-DoF dinosaur robot loco-manipulation tasks.

Boosting Diffusion Model for Spectrogram Up-sampling in Text-to-speech: An Empirical Study

Scaling text-to-speech (TTS) with autoregressive language model (LM) to large-scale datasets by quantizing waveform into discrete speech tokens is making great progress to capture the diversity and expressiveness in human speech, but the speech reconstruction quality from discrete speech token is far from satisfaction depending on the compressed speech token compression ratio. Generative diffusion models trained with score-matching loss and continuous normalized flow trained with flow-matching loss have become prominent in generation of images as well as speech. LM based TTS systems usually quantize speech into discrete tokens and generate these tokens autoregressively, and finally use a diffusion model to up sample coarse-grained speech tokens into fine-grained codec features or mel-spectrograms before reconstructing into waveforms with vocoder, which has a high latency and is not realistic for real time speech applications. In this paper, we systematically investigate varied diffusion models for up sampling stage, which is the main bottleneck for streaming synthesis of LM and diffusion-based architecture, we present the model architecture, objective and subjective metrics to show quality and efficiency improvement.