Related papers: Skill Expansion and Composition in Parameter Space

Non-parametric episodic memory can be used to quickly latch onto high-rewarded experience in reinforcement learning tasks. In contrast to parametric deep reinforcement learning approaches in which reward signals need to be back-propagated…

In the compressive learning theory, instead of solving a statistical learning problem from the input data, a so-called sketch is computed from the data prior to learning. The sketch has to capture enough information to solve the problem…

A major challenge for reinforcement learning is automatically generating curricula to reduce training time or improve performance in some target task. We introduce SEBNs (Skill-Environment Bayesian Networks) which model a probabilistic…

Large Language Models (LLMs) have achieved impressive progress across a wide range of tasks, yet their heavy reliance on English-centric training data leads to significant performance degradation in non-English languages. While existing…

Parameter-efficient tuning (PEFT) techniques like low-rank adaptation (LoRA) offer training efficiency on Large Language Models, but their impact on model performance remains limited. Recent efforts integrate LoRA and Mixture-of-Experts…

We propose a learning algorithm to overcome the limitations of traditional backpropagation in resource-constrained environments: Solo Pass Embedded Learning Algorithm (SPELA). SPELA operates with local loss functions to update weights,…

Advancing reinforcement learning (RL) requires tools that are flexible enough to easily prototype new methods while avoiding impractically slow experimental turnaround times. To match the first requirement, the most popular RL libraries…

Despite the rising prevalence of neural language models, recent empirical evidence suggests their deficiency in compositional generalization. One of the current de-facto solutions to this problem is compositional data augmentation, which…

Humans generally acquire new skills without compromising the old; however, the opposite holds for Large Language Models (LLMs), e.g., from LLaMA to CodeLLaMA. To this end, we propose a new post-pretraining method for LLMs with an expansion…

Recent advances in prompt learning allow large language model agents to acquire task-relevant knowledge from inference-time context without parameter changes. For example, existing methods (like ACE or GEPA) can learn system prompts to…

We introduce a novel paradigm for robot pro- gramming with which we aim to make robot programming more accessible for unexperienced users. In order to do so we incorporate two major components in one single framework: autonomous skill…

Large Language Model (LLM) agents have shown stunning results in complex tasks, yet they often operate in isolation, failing to learn from past experiences. Existing memory-based methods primarily store raw trajectories, which are often…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

Parameter-Efficient Fine-Tuning (PEFT) methods, particularly Low-Rank Adaptation (LoRA), are indispensable for efficiently customizing Large Language Models (LLMs). However, vanilla LoRA suffers from slow convergence speed and knowledge…

Class-Incremental Learning (CIL) requires a learning system to continually learn new classes without forgetting. Despite the strong performance of Pre-Trained Models (PTMs) in CIL, a critical issue persists: learning new classes often…

Deep learning based approaches have achieved significant progresses in different tasks like classification, detection, segmentation, and so on. Ensemble learning is widely known to further improve performance by combining multiple…

Large Language Models (LLMs) have demonstrated remarkable capabilities on various tasks, while the further evolvement is limited to the lack of high-quality training data. In addition, traditional training approaches rely too much on…

Recent advancements in Large Language Models (LLMs) have created new opportunities to enhance performance on complex reasoning tasks by leveraging test-time computation. However, existing scaling methods have key limitations: parallel…

Language-conditioned robotic skills make it possible to apply the high-level reasoning of Large Language Models (LLMs) to low-level robotic control. A remaining challenge is to acquire a diverse set of fundamental skills. Existing…

Skill libraries have become a practical way for LLM agents to reuse procedural experience across tasks. However, existing systems typically treat skills as flat, single-resolution prompt blocks. This creates a tension between relevance and…