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Recent studies have shown that combining parameter-efficient fine-tuning (PEFT) with mixture-of-experts (MoE) is an effective strategy for adapting large language models (LLMs) to the downstream tasks. However, most existing approaches rely…

We present MoE-MLA-RoPE, a novel architecture combination that combines Mixture of Experts (MoE) with Multi-head Latent Attention (MLA) and Rotary Position Embeddings (RoPE) for efficient language modeling. Our approach addresses the…

Quadrupedal locomotion is a complex, open-ended problem vital to expanding autonomous vehicle reach. Traditional reinforcement learning approaches often fall short due to training instability and sample inefficiency. We propose a novel…

Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…

Federated fine-tuning offers a promising solution for adapting Large Language Models (LLMs) to downstream tasks while safeguarding data privacy. However, its high computational and communication demands hinder its deployment on…

Mixture-of-Experts (MoE) models have emerged as a dominant paradigm for efficient LLM scaling, yet adapting them to non-English downstream tasks remains challenging. Existing fine-tuning approaches treat MoE models as monolithic learners,…

Low-Rank Adaptation (LoRA) drives research to align its performance with full fine-tuning. However, significant challenges remain: (1) Simply increasing the rank size of LoRA does not effectively capture high-rank information, which leads…

The advent of deep reinforcement learning (DRL) has significantly advanced the field of robotics, particularly in the control and coordination of quadruped robots. However, the complexity of real-world tasks often necessitates the…

Multi-task robot learning holds significant importance in tackling diverse and complex scenarios. However, current approaches are hindered by performance issues and difficulties in collecting training datasets. In this paper, we propose…

Supervised fine-tuning (SFT) is a milestone in aligning large language models with human instructions and adapting them to downstream tasks. In particular, Low-Rank Adaptation (LoRA) has gained widespread attention due to its parameter…

Mixture-of-Experts (MoE) has become a prominent paradigm for scaling Large Language Models (LLMs). Parameter-efficient fine-tuning methods, such as LoRA, are widely adopted to adapt pretrained MoE LLMs to downstream tasks. However, existing…

The field of natural language processing (NLP) has made significant strides in recent years, particularly in the development of large-scale vision-language models (VLMs). These models aim to bridge the gap between text and visual…

Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…

At present, robots typically require extensive training to successfully accomplish a single task. However, to truly enhance their usefulness in real-world scenarios, robots should possess the capability to perform multiple tasks…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

Recent advancements in general-purpose or domain-specific multimodal large language models (LLMs) have witnessed remarkable progress for medical decision-making. However, they are designated for specific classification or generative tasks,…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Despite recent advancements in language models (LMs), their application to dialogue management (DM) problems and ability to carry on rich conversations remain a challenge. We use reinforcement learning (RL) to develop a dialogue agent that…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

Real-world model deployment across multiple domains requires multimodal models to operate under two complementary regimes: (1) multi-task pretraining, tasks are co-available at design time where related tasks could borrow representational…