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The pervasive deployment of Large Language Models-LLMs in various sectors often neglects the nuanced requirements of individuals and small organizations, who benefit more from models precisely tailored to their specific business contexts…

The Mixture-of-Experts (MoE) paradigm has emerged as a powerful approach for scaling transformers with improved resource utilization. However, efficiently fine-tuning MoE models remains largely underexplored. Inspired by recent works on…

Implicit policies parameterized by generative models, such as Diffusion Policy, have become the standard for policy learning and Vision-Language-Action (VLA) models in robotics. However, these approaches often suffer from high computational…

The fine-tuning paradigm has emerged as a prominent approach for addressing long-tail learning tasks in the era of foundation models. However, the impact of fine-tuning strategies on long-tail learning performance remains unexplored. In…

Continual post-training (CPT) is a popular and effective technique for adapting foundation models like multimodal large language models to specific and ever-evolving downstream tasks. While existing research has primarily concentrated on…

Prompt tuning has been an extremely effective tool to adapt a pre-trained model to downstream tasks. However, standard prompt-based methods mainly consider the case of sufficient data of downstream tasks. It is still unclear whether the…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

We present Self-Adaptive Robust Attention for Robotics Transformers (SARA-RT): a new paradigm for addressing the emerging challenge of scaling up Robotics Transformers (RT) for on-robot deployment. SARA-RT relies on the new method of…

Visual prompt tuning (VPT) is a promising solution incorporating learnable prompt tokens to customize pre-trained models for downstream tasks. However, VPT and its variants often encounter challenges like prompt initialization, prompt…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

Recent studies applied Parameter Efficient Fine-Tuning techniques (PEFTs) to efficiently narrow the performance gap between pre-training and downstream. There are two important factors for various PEFTs, namely, the accessible data size and…

This paper presents a novel method for utilizing fine-tuned Large Language Models (LLMs) to minimize data requirements in load profile analysis, demonstrated through the restoration of missing data in power system load profiles. A two-stage…

The current modus operandi in adapting pre-trained models involves updating all the backbone parameters, ie, full fine-tuning. This paper introduces Visual Prompt Tuning (VPT) as an efficient and effective alternative to full fine-tuning…

Large language models (LLMs) have recently demonstrated promising performance in simultaneous machine translation (SimulMT). However, applying decoder-only LLMs to SimulMT introduces a positional mismatch, which leads to a dilemma between…

A fundamental open challenge in modern LLM scaling is the lack of understanding around emergent capabilities. In particular, language model pretraining loss is known to be highly predictable as a function of compute. However, downstream…

Humans excel at bimanual assembly tasks by adapting to rich tactile feedback -- a capability that remains difficult to replicate in robots through behavioral cloning alone, due to the suboptimality and limited diversity of human…

Fine-tuning large pre-trained language models for downstream tasks remains a critical challenge in natural language processing. This paper presents an empirical analysis comparing two efficient fine-tuning methods - BitFit and adapter…

Prompt tuning has become a prominent strategy for enhancing the performance of Large Language Models (LLMs) on downstream tasks. Many IT enterprises now offer Prompt-Tuning-as-a-Service to fulfill the growing demand for prompt tuning LLMs…

The scale of large pre-trained models (PTMs) poses significant challenges in adapting to downstream tasks due to the high optimization overhead and storage costs associated with full-parameter fine-tuning. To address this, many studies…

As neural networks are increasingly being applied to real-world applications, mechanisms to address distributional shift and sequential task learning without forgetting are critical. Methods incorporating network expansion have shown…