diff --git a/llama_cpp_vendor/CMakeLists.txt b/llama_cpp_vendor/CMakeLists.txt
index addbf8a5..4e6f6f4c 100644
--- a/llama_cpp_vendor/CMakeLists.txt
+++ b/llama_cpp_vendor/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(ament_cmake REQUIRED)
 FetchContent_Declare(
   llama
   GIT_REPOSITORY https://github.com/ggerganov/llama.cpp.git
-  GIT_TAG        b3899
+  GIT_TAG        b3906
 )
 
 FetchContent_MakeAvailable(llama)
diff --git a/llama_ros/include/llama_ros/llama.hpp b/llama_ros/include/llama_ros/llama.hpp
index a711373c..01044722 100644
--- a/llama_ros/include/llama_ros/llama.hpp
+++ b/llama_ros/include/llama_ros/llama.hpp
@@ -84,7 +84,7 @@ using GenerateResponseCallback = std::function<void(struct completion_output)>;
 class Llama {
 
 public:
-  Llama(const struct gpt_params &params, bool debug);
+  Llama(const struct common_params &params, bool debug);
   virtual ~Llama();
 
   std::vector<llama_token> tokenize(const std::string &text, bool add_bos,
@@ -94,7 +94,7 @@ class Llama {
   void reset();
   void cancel();
 
-  std::string format_chat_prompt(std::vector<struct llama_chat_msg> chat_msgs,
+  std::string format_chat_prompt(std::vector<struct common_chat_msg> chat_msgs,
                                  bool add_ass);
   std::vector<struct lora> list_loras();
   void update_loras(std::vector<struct lora> loras);
@@ -111,7 +111,7 @@ class Llama {
                                     const std::vector<std::string> &documents);
 
   response_output generate_response(const std::string &input_prompt,
-                                    struct gpt_sampler_params sparams,
+                                    struct common_sampler_params sparams,
                                     GenerateResponseCallback callbakc = nullptr,
                                     std::vector<std::string> stop = {});
   response_output generate_response(const std::string &input_prompt,
@@ -130,13 +130,13 @@ class Llama {
   llama_token get_token_eos() { return llama_token_eos(this->model); }
 
 protected:
-  struct gpt_params params;
+  struct common_params params;
 
   // model
   struct llama_context *ctx;
   struct llama_model *model;
-  std::vector<struct llama_lora_adapter_container> lora_adapters;
-  struct gpt_sampler *sampler;
+  std::vector<struct common_lora_adapter_container> lora_adapters;
+  struct common_sampler *sampler;
   struct ggml_threadpool *threadpool;
   struct ggml_threadpool *threadpool_batch;
 
diff --git a/llama_ros/include/llama_utils/llama_params.hpp b/llama_ros/include/llama_utils/llama_params.hpp
index bdd79d65..06d43c6c 100644
--- a/llama_ros/include/llama_utils/llama_params.hpp
+++ b/llama_ros/include/llama_utils/llama_params.hpp
@@ -20,8 +20,8 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 // SOFTWARE.
 
-#ifndef LLAMA_ROS__GPT_PARAMS_HPP
-#define LLAMA_ROS__GPT_PARAMS_HPP
+#ifndef LLAMA_ROS__common_params_HPP
+#define LLAMA_ROS__common_params_HPP
 
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
@@ -36,7 +36,7 @@ namespace llama_utils {
 
 struct llama_params {
   bool debug;
-  struct gpt_params params;
+  struct common_params params;
   struct llava_ros::llava_params llava_params;
 };
 
@@ -48,7 +48,7 @@ get_llama_params(const rclcpp_lifecycle::LifecycleNode::SharedPtr &node);
 
 enum ggml_sched_priority parse_priority(std::string priority);
 
-struct gpt_sampler_params
+struct common_sampler_params
 parse_sampling_params(const llama_msgs::msg::SamplingConfig &sampling_config,
                       int n_vocab);
 
diff --git a/llama_ros/include/llava_ros/llava.hpp b/llama_ros/include/llava_ros/llava.hpp
index 2465aadf..f1367f56 100644
--- a/llama_ros/include/llava_ros/llava.hpp
+++ b/llama_ros/include/llava_ros/llava.hpp
@@ -47,7 +47,7 @@ struct llava_params {
 class Llava : public llama_ros::Llama {
 
 public:
-  Llava(const struct gpt_params &params,
+  Llava(const struct common_params &params,
         const struct llava_params &llava_params, bool debug = false);
   ~Llava();
 
diff --git a/llama_ros/src/llama_ros/llama.cpp b/llama_ros/src/llama_ros/llama.cpp
index 4c59bed3..e36dc5cd 100644
--- a/llama_ros/src/llama_ros/llama.cpp
+++ b/llama_ros/src/llama_ros/llama.cpp
@@ -31,7 +31,7 @@
 
 using namespace llama_ros;
 
-Llama::Llama(const struct gpt_params &params, bool debug)
+Llama::Llama(const struct common_params &params, bool debug)
     : params(params), debug(debug) {
 
   if (this->debug) {
@@ -42,8 +42,7 @@ Llama::Llama(const struct gpt_params &params, bool debug)
   llama_backend_init();
   llama_numa_init(this->params.numa);
 
-  struct llama_init_result llama_init =
-      llama_init_from_gpt_params(this->params);
+  struct common_init_result llama_init = common_init_from_params(this->params);
   this->model = llama_init.model;
   this->ctx = llama_init.context;
   this->lora_adapters = llama_init.lora_adapters;
@@ -86,7 +85,7 @@ Llama::Llama(const struct gpt_params &params, bool debug)
   llama_attach_threadpool(this->ctx, this->threadpool, this->threadpool_batch);
 
   // create the sampler
-  this->sampler = gpt_sampler_init(this->model, this->params.sparams);
+  this->sampler = common_sampler_init(this->model, this->params.sparams);
   if (!this->sampler) {
     LLAMA_LOG_ERROR("Failed to initialize sampling subsystem");
     return;
@@ -105,7 +104,7 @@ Llama::Llama(const struct gpt_params &params, bool debug)
   // show info
   LLAMA_LOG_INFO("llama.cpp: build = %d, commit = %s", LLAMA_BUILD_NUMBER,
                  LLAMA_COMMIT);
-  LLAMA_LOG_INFO("%s", gpt_params_get_system_info(this->params).c_str());
+  LLAMA_LOG_INFO("%s", common_params_get_system_info(this->params).c_str());
 
   LLAMA_LOG_INFO(
       "Generate: n_ctx = %d, n_batch = %d, n_predict = %d, n_keep = %d",
@@ -136,7 +135,7 @@ Llama::~Llama() {
   this->model = nullptr;
 
   if (this->sampler != nullptr) {
-    gpt_sampler_free(this->sampler);
+    common_sampler_free(this->sampler);
     this->sampler = nullptr;
   }
   llama_backend_free();
@@ -159,7 +158,7 @@ void Llama::reset() {
   llama_kv_cache_clear(this->ctx);
 
   if (this->sampler != nullptr) {
-    gpt_sampler_reset(this->sampler);
+    common_sampler_reset(this->sampler);
   }
 
   this->canceled = false;
@@ -189,7 +188,7 @@ void Llama::reset() {
 std::vector<llama_token> Llama::tokenize(const std::string &text, bool add_bos,
                                          bool special) {
   std::lock_guard<std::recursive_mutex> lk(this->mutex);
-  return llama_tokenize(this->ctx, text, add_bos, special);
+  return common_tokenize(this->ctx, text, add_bos, special);
 }
 
 std::string Llama::detokenize(const std::vector<llama_token> &tokens) {
@@ -198,7 +197,7 @@ std::string Llama::detokenize(const std::vector<llama_token> &tokens) {
   std::string text;
 
   for (llama_token t : tokens) {
-    text.append(llama_token_to_piece(this->ctx, t));
+    text.append(common_token_to_piece(this->ctx, t));
   }
 
   return text;
@@ -237,7 +236,7 @@ Llama::generate_embeddings(const std::vector<llama_token> &tokens,
   // llama eval
   struct llama_batch batch = llama_batch_init(this->params.n_batch, 0, 1);
   for (size_t i = 0; i < tokens.size(); i++) {
-    llama_batch_add(batch, tokens[i], i, {0}, i == tokens.size() - 1);
+    common_batch_add(batch, tokens[i], i, {0}, i == tokens.size() - 1);
   }
 
   if (llama_decode(this->ctx, batch)) {
@@ -265,7 +264,7 @@ Llama::generate_embeddings(const std::vector<llama_token> &tokens,
     }
 
     if (normalize) {
-      llama_embd_normalize(embd, embd_res.data(), n_embd);
+      common_embd_normalize(embd, embd_res.data(), n_embd);
 
     } else {
       for (int i = 0; i < n_embd; i++) {
@@ -366,9 +365,9 @@ Llama::rank_documents(const std::string &query,
 *****************************
 */
 std::string
-Llama::format_chat_prompt(std::vector<struct llama_chat_msg> chat_msgs,
+Llama::format_chat_prompt(std::vector<struct common_chat_msg> chat_msgs,
                           bool add_ass) {
-  return llama_chat_apply_template(this->get_model(), "", chat_msgs, add_ass);
+  return common_chat_apply_template(this->get_model(), "", chat_msgs, add_ass);
 }
 
 /*
@@ -426,7 +425,7 @@ void Llama::update_loras(std::vector<struct lora> loras) {
     }
   }
 
-  llama_lora_adapters_apply(this->ctx, this->lora_adapters);
+  common_lora_adapters_apply(this->ctx, this->lora_adapters);
 }
 
 /*
@@ -437,12 +436,12 @@ void Llama::update_loras(std::vector<struct lora> loras) {
 response_output Llama::generate_response(const std::string &input_prompt,
                                          GenerateResponseCallback callback,
                                          std::vector<std::string> stop) {
-  struct gpt_sampler_params sparams;
+  struct common_sampler_params sparams;
   return this->generate_response(input_prompt, sparams, callback, stop);
 }
 
 response_output Llama::generate_response(const std::string &input_prompt,
-                                         struct gpt_sampler_params sparams,
+                                         struct common_sampler_params sparams,
                                          GenerateResponseCallback callback,
                                          std::vector<std::string> stop) {
 
@@ -464,10 +463,10 @@ response_output Llama::generate_response(const std::string &input_prompt,
   this->params.sparams = sparams;
 
   if (this->sampler != nullptr) {
-    gpt_sampler_free(this->sampler);
+    common_sampler_free(this->sampler);
   }
 
-  this->sampler = gpt_sampler_init(this->model, this->params.sparams);
+  this->sampler = common_sampler_init(this->model, this->params.sparams);
 
   if (this->sampler == nullptr) {
     output.stop = stop_type::ABORT;
@@ -481,7 +480,7 @@ response_output Llama::generate_response(const std::string &input_prompt,
   if (this->debug) {
     LLAMA_LOG_INFO("Sampler params: %s", this->params.sparams.print().c_str());
     LLAMA_LOG_INFO("Sampler constr: %s",
-                   gpt_sampler_print(this->sampler).c_str());
+                   common_sampler_print(this->sampler).c_str());
 
     LLAMA_LOG_INFO("Prompt tokens:\n%s",
                    this->detokenize(this->prompt_tokens).c_str());
@@ -540,7 +539,7 @@ response_output Llama::generate_response(const std::string &input_prompt,
   LLAMA_LOG_INFO("Finish Response Generation");
 
   if (this->debug) {
-    gpt_perf_print(this->ctx, this->sampler);
+    common_perf_print(this->ctx, this->sampler);
   }
 
   output.completions = response;
@@ -575,7 +574,7 @@ void Llama::load_prompt(const std::string &input_prompt, bool add_pfx,
 
     const int n_prev = 64;
     const std::string last_output =
-        gpt_sampler_prev_str(this->sampler, this->ctx, n_prev);
+        common_sampler_prev_str(this->sampler, this->ctx, n_prev);
 
     // check if prefix is already added
     if (last_output.find(
@@ -610,7 +609,7 @@ Llama::find_stop(std::vector<struct completion_output> completion_result_list,
   // check if stopping word appear at the end of the output
   const int n_prev = 32;
   const std::string last_output =
-      gpt_sampler_prev_str(this->sampler, this->ctx, n_prev);
+      common_sampler_prev_str(this->sampler, this->ctx, n_prev);
 
   for (auto w : stopping_words) {
     if (last_output.find(w.c_str(), last_output.length() - w.length(),
@@ -621,7 +620,7 @@ Llama::find_stop(std::vector<struct completion_output> completion_result_list,
   }
 
   // eos
-  if (llama_token_is_eog(this->model, gpt_sampler_last(this->sampler))) {
+  if (llama_token_is_eog(this->model, common_sampler_last(this->sampler))) {
     LLAMA_LOG_INFO("Stopping with EOS");
     return FULL_STOP;
   }
@@ -716,7 +715,8 @@ bool Llama::eval_prompt(std::vector<llama_token> prompt_tokens) {
            ((int)batch.size() < this->params.n_batch)) {
 
       batch.push_back(prompt_tokens[this->n_consumed]);
-      gpt_sampler_accept(this->sampler, prompt_tokens[this->n_consumed], false);
+      common_sampler_accept(this->sampler, prompt_tokens[this->n_consumed],
+                            false);
       ++this->n_consumed;
     }
 
@@ -836,7 +836,7 @@ bool Llama::eval(struct llama_batch batch) {
 std::vector<token_prob> Llama::get_probs() {
   std::vector<token_prob> probs;
 
-  const auto *cur_p = gpt_sampler_get_candidates(this->sampler);
+  const auto *cur_p = common_sampler_get_candidates(this->sampler);
 
   const int32_t n_probs = this->params.sparams.n_probs;
 
@@ -853,8 +853,8 @@ std::vector<token_prob> Llama::get_probs() {
 struct completion_output Llama::sample() {
 
   // sample token
-  llama_token id = gpt_sampler_sample(this->sampler, this->ctx, -1);
-  gpt_sampler_accept(this->sampler, id, true);
+  llama_token id = common_sampler_sample(this->sampler, this->ctx, -1);
+  common_sampler_accept(this->sampler, id, true);
 
   // create output
   struct completion_output result;
diff --git a/llama_ros/src/llama_ros/llama_node.cpp b/llama_ros/src/llama_ros/llama_node.cpp
index 7a7c2092..6b232000 100644
--- a/llama_ros/src/llama_ros/llama_node.cpp
+++ b/llama_ros/src/llama_ros/llama_node.cpp
@@ -279,9 +279,9 @@ void LlamaNode::format_chat_service_callback(
     const std::shared_ptr<llama_msgs::srv::FormatChatMessages::Request> request,
     std::shared_ptr<llama_msgs::srv::FormatChatMessages::Response> response) {
 
-  std::vector<struct llama_chat_msg> converted_messages;
+  std::vector<struct common_chat_msg> converted_messages;
   for (auto message : request->messages) {
-    struct llama_chat_msg aux;
+    struct common_chat_msg aux;
     aux.role = message.role.c_str();
     aux.content = message.content.c_str();
 
@@ -401,7 +401,7 @@ void LlamaNode::execute(
     this->llama->reset();
   }
 
-  // update sampling params of gpt_params
+  // update sampling params of common_params
   auto sampling_config = goal_handle->get_goal()->sampling_config;
   auto sparams = llama_utils::parse_sampling_params(sampling_config,
                                                     this->llama->get_n_vocab());
diff --git a/llama_ros/src/llama_utils/llama_params.cpp b/llama_ros/src/llama_utils/llama_params.cpp
index 19528320..5fd129b5 100644
--- a/llama_ros/src/llama_utils/llama_params.cpp
+++ b/llama_ros/src/llama_utils/llama_params.cpp
@@ -404,10 +404,10 @@ enum ggml_sched_priority llama_utils::parse_priority(std::string priority) {
   return GGML_SCHED_PRIO_NORMAL;
 }
 
-struct gpt_sampler_params llama_utils::parse_sampling_params(
+struct common_sampler_params llama_utils::parse_sampling_params(
     const llama_msgs::msg::SamplingConfig &sampling_config, int n_vocab) {
 
-  struct gpt_sampler_params sparams;
+  struct common_sampler_params sparams;
 
   sparams.n_prev = sampling_config.n_prev;
   sparams.n_probs = sampling_config.n_probs;
@@ -432,7 +432,7 @@ struct gpt_sampler_params llama_utils::parse_sampling_params(
   sparams.penalize_nl = sampling_config.penalize_nl;
 
   sparams.samplers =
-      gpt_sampler_types_from_chars(sampling_config.samplers_sequence);
+      common_sampler_types_from_chars(sampling_config.samplers_sequence);
   sparams.grammar = sampling_config.grammar;
 
   if (sparams.grammar.size() == 0 &&
diff --git a/llama_ros/src/llava_ros/llava.cpp b/llama_ros/src/llava_ros/llava.cpp
index e4569ddd..73e001e7 100644
--- a/llama_ros/src/llava_ros/llava.cpp
+++ b/llama_ros/src/llava_ros/llava.cpp
@@ -30,7 +30,7 @@
 
 using namespace llava_ros;
 
-Llava::Llava(const struct gpt_params &params,
+Llava::Llava(const struct common_params &params,
              const struct llava_params &llava_params, bool debug)
     : llama_ros::Llama(params, debug), llava_params(llava_params) {