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Low-Rank Adaptation (LoRA) is one of the most widely used techniques for fine-tuning large language models (LLMs). By introducing a small number of trainable low-rank weight matrices, LoRA substantially reduces the number of parameters that…
Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…
Vision-language-action (VLA) models inherit rich visual-semantic priors from pre-trained vision-language backbones, but adapting them to robotic control remains challenging. Full fine-tuning (FFT) is prone to overfitting on downstream…
Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into robotic actions. Despite their recent advancements,…
Large Language Models (LLMs) generate functionally correct solutions but often fall short in code efficiency, a critical bottleneck for real-world deployment. In this paper, we introduce a novel test-time iterative optimization framework to…
Vision-Language-Action (VLA) models show promise in embodied reasoning, yet remain far from true generalists-they often require task-specific fine-tuning, incur high compute costs, and generalize poorly to unseen tasks. We propose MetaVLA,…
Recent advancements in large vision-language models (LVLMs), such as GPT4-V and LLaVA, have been substantial. LLaVA's modular architecture, in particular, offers a blend of simplicity and efficiency. Recent works mainly focus on introducing…
Prevalent reinforcement learning~(RL) methods for fine-tuning LLM reasoners, such as GRPO or Leave-one-out PPO, abandon the learned value function in favor of empirically estimated returns. This hinders test-time compute scaling that relies…
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…
Fine-tuning is a crucial paradigm for adapting pre-trained large language models to downstream tasks. Recently, methods like Low-Rank Adaptation (LoRA) have been shown to effectively fine-tune LLMs with an extreme reduction in trainable…
In the era of Large Language Models (LLMs), alignment has emerged as a fundamental yet challenging problem in the pursuit of more reliable, controllable, and capable machine intelligence. The recent success of reasoning models and…
Reinforcement learning (RL) has emerged as an effective approach for enhancing the reasoning capabilities of large language models (LLMs), especially in scenarios where supervised fine-tuning (SFT) falls short due to limited…
While Large Language Models (LLMs) have demonstrated exceptional multitasking abilities, fine-tuning these models on downstream, domain-specific datasets is often necessary to yield superior performance on test sets compared to their…
Large reasoning models (LRMs) extend large language models by generating explicit chain-of-thought (CoT) reasoning, significantly improving mathematical and logical problem solving. However, this explicit reasoning process also introduces…
Post-training has become essential for adapting large language models (LLMs) to complex downstream behaviors, including instruction following, preference alignment, and multi-step reasoning. Reinforcement learning with verifiable rewards…
Adapting large language models (LLMs) to downstream tasks via full fine-tuning is increasingly impractical due to its computational and memory demands. Parameter-efficient fine-tuning (PEFT) approaches such as Low-Rank Adaptation (LoRA)…
Fine-tuning Large Language Models (LLMs) on specific datasets is a common practice to improve performance on target tasks. However, this performance gain often leads to overfitting, where the model becomes too specialized in either the task…
Recent advances in post-training techniques have endowed Large Language Models (LLMs) with enhanced capabilities for tackling complex, logic-intensive tasks through the generation of supplementary planning tokens. This development raises a…
Fine-tuning pre-trained generative models with Reinforcement Learning (RL) has emerged as an effective approach for aligning outputs more closely with nuanced human preferences. In this paper, we investigate the application of Group…
Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instruction grounding, a critical component…