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Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Recent studies have uncovered the potential of Large Language Models (LLMs) in addressing complex sequential decision-making tasks through the provision of high-level instructions. However, LLM-based agents lack specialization in tackling…

Value-based reinforcement learning (RL) can in principle learn effective policies for a wide range of multi-turn problems, from games to dialogue to robotic control, including via offline RL from static previously collected datasets.…

The rapid growth of Large Language Models (LLMs) has been a driving force in transforming various domains, reshaping the artificial general intelligence landscape. However, the increasing computational and memory demands of these models…

Generative large language models (LLMs) exhibit impressive capabilities, which can be further augmented by integrating a pre-trained vision model into the original LLM to create a multimodal LLM (MLLM). However, this integration often…

Self-adaptive large language models (LLMs) aim to solve the challenges posed by traditional fine-tuning methods, which are often computationally intensive and static in their ability to handle diverse tasks. We introduce…

Multimodal Large Language Models (MLLMs) have achieved remarkable success in vision understanding, reasoning, and interaction. However, the inference computation and memory increase progressively with the generation of output tokens during…

Multimodal Large Language Models (MLLMs) have achieved strong performance across vision-language tasks, but suffer from significant computational overhead due to the quadratic growth of attention computations with the number of multimodal…

Large Language Models are growing in size, and we expect them to continue to do so, as larger models train quicker. However, this increase in size will severely impact inference costs. Therefore model compression is important, to retain the…

Large Language Models (LLMs) pre-trained on internet-scale datasets have shown impressive capabilities in code understanding, synthesis, and general purpose question-and-answering. Key to their performance is the substantial prior knowledge…

Accurate multi-turn intent classification is essential for advancing conversational AI systems. However, challenges such as the scarcity of comprehensive datasets and the complexity of contextual dependencies across dialogue turns hinder…

Large foundation models, including large language models (LLMs), vision transformers (ViTs), diffusion, and LLM-based multimodal models, are revolutionizing the entire machine learning lifecycle, from training to deployment. However, the…

Multi-modal Large Language Models (MLLMs) have achieved remarkable success by integrating visual and textual modalities. However, they incur significant computational overhead due to the large number of vision tokens processed, limiting…

Large Language Models (LLMs) have fundamentally altered how we approach scaling in machine learning. However, these models pose substantial computational and memory challenges, primarily due to the reliance on matrix multiplication (MatMul)…

Large language models (LLMs), especially generative pre-trained transformers (GPTs), have recently demonstrated outstanding ability in information comprehension and problem-solving. This has motivated many studies in applying LLMs to…

Fine-tuning Multimodal Large Language Models (MLLMs) on task-specific data is an effective way to improve performance on downstream applications. However, such adaptation often leads to a degradation in generalization on pretrained tasks, a…

Large Language Models (LLMs) have demonstrated promising reasoning capabilities in robotics; however, their application in multi-robot systems remains limited, particularly in handling task dependencies. This paper introduces DART-LLM, a…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Large Language Models (LLMs) have been achieving competent performance on a wide range of downstream tasks, yet existing work shows that inference on structured data is challenging for LLMs. This is because LLMs need to either understand…

In this paper, we introduce a method for fine-tuning Large Language Models (LLMs), inspired by Multi-Task learning in a federated manner. Our approach leverages the structure of each client's model and enables a learning scheme that…