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Much as replacing hand-designed features with learned functions has revolutionized how we solve perceptual tasks, we believe learned algorithms will transform how we train models. In this work we focus on general-purpose learned optimizers…

Large language models (LLMs) have demonstrated competitive performance in zero-shot multilingual machine translation (MT). Some follow-up works further improved MT performance via preference optimization, but they leave a key aspect largely…

Stochastic microstructure reconstruction has become an indispensable part of computational materials science, but ongoing developments are specific to particular material systems. In this paper, we address this generality problem by…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

Planning plays an important role in the broad class of decision theory. Planning has drawn much attention in recent work in the robotics and sequential decision making areas. Recently, Reinforcement Learning (RL), as an agent-environment…

The development of large-scale foundation models, particularly Large Language Models (LLMs), is constrained by significant computational and memory bottlenecks. These challenges elevate throughput optimization from a mere engineering task…

Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…

Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synthesizing safe controllers that can deal with the associated…

Learning robotic manipulation tasks using reinforcement learning with sparse rewards is currently impractical due to the outrageous data requirements. Many practical tasks require manipulation of multiple objects, and the complexity of such…

Most deep neural networks are trained under fixed network architectures and require retraining when the architecture changes. If expanding the network's size is needed, it is necessary to retrain from scratch, which is expensive. To avoid…

We study and quantify the problem of forgetting when fine-tuning pre-trained large language models (LLMs) on a downstream task. We find that parameter-efficient fine-tuning (PEFT) strategies, such as Low-Rank Adapters (LoRA), still suffer…

Preference-based reinforcement learning (PbRL) is emerging as a promising approach to teaching robots through human comparative feedback, sidestepping the need for complex reward engineering. However, the substantial volume of feedback…

Learning instead of designing robot controllers can greatly reduce engineering effort required, while also emphasizing robustness. Despite considerable progress in simulation, applying learning directly in hardware is still challenging, in…

Reinforcement learning (RL) faces challenges in evaluating policy trajectories within intricate game tasks due to the difficulty in designing comprehensive and precise reward functions. This inherent difficulty curtails the broader…

Reinforcement learning (RL) has shown great potential in enabling quadruped robots to perform agile locomotion. However, directly training policies to simultaneously handle dual extreme challenges, i.e., extreme underactuation and extreme…

We propose a new approach to combine Restricted Boltzmann Machines (RBMs) that can be used to solve combinatorial optimization problems. This allows synthesis of larger models from smaller RBMs that have been pretrained, thus effectively…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

Learning to learn has emerged as an important direction for achieving artificial intelligence. Two of the primary barriers to its adoption are an inability to scale to larger problems and a limited ability to generalize to new tasks. We…

In this paper we address the problem of visual quality of images reconstructed from block-wise random projections. Independent reconstruction of the blocks can severely affect visual quality, by displaying artifacts along block borders. We…

Hyperparameters and learning algorithms for neuromorphic hardware are usually chosen by hand. In contrast, the hyperparameters and learning algorithms of networks of neurons in the brain, which they aim to emulate, have been optimized…