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Imitation learning has shown great potential for enabling robots to acquire complex manipulation behaviors. However, these algorithms suffer from high sample complexity in long-horizon tasks, where compounding errors accumulate over the…

Robotics · Computer Science 2024-08-20 Tian Gao , Soroush Nasiriany , Huihan Liu , Quantao Yang , Yuke Zhu

Small Language models (SLMs) offer an efficient and accessible alternative to Large Language Models (LLMs), delivering strong performance while using far fewer resources. We introduce a simple and effective framework for pretraining SLMs…

Training on model-generated synthetic data is a promising approach for finetuning LLMs, but it remains unclear when it helps or hurts. In this paper, we investigate this question for math reasoning via an empirical study, followed by…

Machine Learning · Computer Science 2024-06-21 Amrith Setlur , Saurabh Garg , Xinyang Geng , Naman Garg , Virginia Smith , Aviral Kumar

Neural networks need big annotated datasets for training. However, manual annotation can be too expensive or even unfeasible for certain tasks, like multi-person 2D pose estimation with severe occlusions. A remedy for this is synthetic data…

Computer Vision and Pattern Recognition · Computer Science 2019-08-05 David T. Hoffmann , Dimitrios Tzionas , Micheal J. Black , Siyu Tang

The power of foundation models (FMs) lies in their capacity to learn highly expressive representations that can be adapted to a broad spectrum of tasks. However, these pretrained models require additional training stages to become effective…

Machine Learning · Computer Science 2025-10-24 Jacob L. Block , Sundararajan Srinivasan , Liam Collins , Aryan Mokhtari , Sanjay Shakkottai

Pretraining NLP models with variants of Masked Language Model (MLM) objectives has recently led to a significant improvements on many tasks. This paper examines the benefits of pretrained models as a function of the number of training…

Computation and Language · Computer Science 2020-06-17 Sinong Wang , Madian Khabsa , Hao Ma

We draw a formal connection between using synthetic training data to optimize neural network parameters and approximate, Bayesian, model-based reasoning. In particular, training a neural network using synthetic data can be viewed as…

Machine Learning · Computer Science 2017-03-03 Tuan Anh Le , Atilim Gunes Baydin , Robert Zinkov , Frank Wood

Pre-trained Vision-Language Models (VLMs) require Continual Learning (CL) to efficiently update their knowledge and adapt to various downstream tasks without retraining from scratch. However, for VLMs, in addition to the loss of knowledge…

Computer Vision and Pattern Recognition · Computer Science 2025-03-07 Bin Wu , Wuxuan Shi , Jinqiao Wang , Mang Ye

Language models (LMs) trained on vast quantities of unlabelled data have greatly advanced the field of natural language processing (NLP). In this study, we re-visit the widely accepted notion in NLP that continued pre-training LMs on…

Computation and Language · Computer Science 2023-10-09 Zhengxiang Shi , Aldo Lipani

Language model pre-training, such as BERT, has achieved remarkable results in many NLP tasks. However, it is unclear why the pre-training-then-fine-tuning paradigm can improve performance and generalization capability across different…

Computation and Language · Computer Science 2019-08-16 Yaru Hao , Li Dong , Furu Wei , Ke Xu

Prior work on language models (LMs) shows that training on a large number of diverse tasks improves few-shot learning (FSL) performance on new tasks. We take this to the extreme, automatically extracting 413,299 tasks from internet tables -…

Computation and Language · Computer Science 2022-08-09 Jun Shern Chan , Michael Pieler , Jonathan Jao , Jérémy Scheurer , Ethan Perez

Recent developments in large-scale machine learning suggest that by scaling up data, model size and training time properly, one might observe that improvements in pre-training would transfer favorably to most downstream tasks. In this work,…

Machine Learning · Computer Science 2021-10-06 Samira Abnar , Mostafa Dehghani , Behnam Neyshabur , Hanie Sedghi

Synthetic data algorithms are widely employed in industries to generate artificial data for downstream learning tasks. While existing research primarily focuses on empirically evaluating utility of synthetic data, its theoretical…

Machine Learning · Statistics 2025-04-04 Shirong Xu , Will Wei Sun , Guang Cheng

Randomly masking text spans in ordinary texts in the pre-training stage hardly allows models to acquire the ability to generate simple texts. It can hurt the performance of pre-trained models on text simplification tasks. In this paper, we…

Computation and Language · Computer Science 2023-05-23 Renliang Sun , Wei Xu , Xiaojun Wan

As Large Language Models (LLMs) achieve remarkable empirical success through scaling model and data size, pretraining has become increasingly critical yet computationally prohibitive, hindering rapid development. Despite the availability of…

Computation and Language · Computer Science 2026-02-06 Ji Zhao , Yufei Gu , Shitong Shao , Xun Zhou , Liang Xiang , Zeke Xie

Recent approaches in skill matching, employing synthetic training data for classification or similarity model training, have shown promising results, reducing the need for time-consuming and expensive annotations. However, previous…

Computation and Language · Computer Science 2024-02-06 Antoine Magron , Anna Dai , Mike Zhang , Syrielle Montariol , Antoine Bosselut

Prompt tuning (PT) is an effective approach to adapting pre-trained language models to downstream tasks. Without a good initialization, prompt tuning doesn't perform well under few-shot settings. So pre-trained prompt tuning (PPT) is…

Computation and Language · Computer Science 2022-05-26 Yukun Huang , Kun Qian , Zhou Yu

Transformers have gained popularity in the software engineering (SE) literature. These deep learning models are usually pre-trained through a self-supervised objective, meant to provide the model with basic knowledge about a language of…

Software Engineering · Computer Science 2023-02-09 Rosalia Tufano , Luca Pascarella , Gabriele Bavota

We present a method for synthesizing naturally looking images of multiple people interacting in a specific scenario. These images benefit from the advantages of synthetic data: being fully controllable and fully annotated with any type of…

Computer Vision and Pattern Recognition · Computer Science 2020-06-04 Igor Kviatkovsky , Nadav Bhonker , Gerard Medioni

Pre-trained vision transformers have strong representation benefits to various downstream tasks. Recently, many parameter-efficient fine-tuning (PEFT) methods have been proposed, and their experiments demonstrate that tuning only 1\% extra…

Computer Vision and Pattern Recognition · Computer Science 2024-04-30 Henry Hengyuan Zhao , Pichao Wang , Yuyang Zhao , Hao Luo , Fan Wang , Mike Zheng Shou