Iterative data generation and model retraining are widely used to align large language models (LLMs).It typically involves a policy model to generate on-policy responses and a reward model to guide training data selection. Direct Preference Optimization (DPO) further enhances this process by constructing preference pairs of chosen and rejected responses. In this work, we aim to scale up the number of on-policy samples via repeated random sampling to improve alignment performance. Conventional practice selects the sample with the highest reward as chosen and the lowest as rejected for DPO. However, our experiments reveal that this strategy leads to a decline in performance as the sample size increases. To address this, we investigate preference data construction through the lens of underlying normal distribution of sample rewards. We categorize the reward space into seven representative points and systematically explore all 21 (C₇²) pairwise combinations. Through evaluations on four models using AlpacaEval 2, we find that selecting the rejected response at reward position 𝜇 - 2𝜎 rather than the minimum reward, is crucial for optimal performance. We finally introduce a scalable preference data construction strategy that consistently enhances model performance as the sample scale increases.

We introduce SensorLLM, a two-stage framework that enables Large Language Models (LLMs) to perform human activity recognition (HAR) from sensor time-series data. Despite their strong reasoning and generalization capabilities, LLMs remain underutilized for motion sensor data due to the lack of semantic context in time-series, computational constraints, and challenges in processing numerical inputs. SensorLLM addresses these limitations through a Sensor-Language Alignment stage, where the model aligns sensor inputs with trend descriptions. Special tokens are introduced to mark channel boundaries. This alignment enables LLMs to capture numerical variations, channel-specific features, and data of varying durations, without requiring human annotations. In the subsequent Task-Aware Tuning stage, we refine the model for HAR classification, achieving performance that matches or surpasses state-of-the-art methods. Our results demonstrate that SensorLLM evolves into an effective sensor learner, reasoner, and classifier through human-intuitive Sensor-Language Alignment, generalizing across diverse HAR datasets. We believe this work establishes a foundation for future research on time-series and text alignment, paving the way for foundation models in sensor data analysis. Our codes are available at https://github.com/zechenli03/SensorLLM.

The development of autonomous agents increasingly relies on Multimodal Language Models (MLMs) to perform tasks described in natural language with GUI environments, such as websites, desktop computers, or mobile phones. Existing benchmarks for MLM agents in interactive environments are limited by their focus on a single environment, lack of detailed and generalized evaluation methods, and thecomplexities of constructing tasks and evaluators. To overcome these limitations, we introduce CRAB, the first cross-environment agent benchmark framework, incorporating a graph-based fine-grained evaluation method and an efficient task generation method. Our framework supports multiple devices and can be easily extended to any environment with a Python interface. Leveraging CRAB, we develope CRAB Benchmark-v0 comprising 120 tasks in computer desktop and mobile phone environments. We evaluated 6 advanced MLMs using different single and multi-agent system configurations on this benchmark. The experimental results demonstrate that the single agent with GPT-4o achieves the best completion ratio of 38.01%.