Related papers: ExT: Towards Scalable Autonomous Excavation via La…

Robot task planning is an important problem for autonomous robots in long-horizon challenging tasks. As large pre-trained models have demonstrated superior planning ability, recent research investigates utilizing large models to achieve…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

The rise of deep learning has marked significant progress in fields such as computer vision, natural language processing, and medical imaging, primarily through the adaptation of pre-trained models for specific tasks. Traditional…

Modern computer vision pipelines handle large images in one of two sub-optimal ways: down-sampling or cropping. These two methods incur significant losses in the amount of information and context present in an image. There are many…

In this paper, we propose a control algorithm based on reinforcement learning, employing independent rewards for each joint to control excavators in a 3D space. The aim of this research is to address the challenges associated with achieving…

Most uses of machine learning today involve training a model from scratch for a particular task, or sometimes starting with a model pretrained on a related task and then fine-tuning on a downstream task. Both approaches offer limited…

As extended reality (XR) is redefining how users interact with computing devices, research in human action recognition is gaining prominence. Typically, models deployed on immersive computing devices are static and limited to their default…

The reasoning frontier of Large Language Models (LLMs) has advanced significantly through modern post-training paradigms (e.g., Reinforcement Learning from Verifiable Rewards (RLVR)). However, the efficacy of these methods remains…

The complex nonlinear dynamics of hydraulic excavators, such as time delays and control coupling, pose significant challenges to achieving high-precision trajectory tracking. Traditional control methods often fall short in such applications…

Designing agents that acquire knowledge autonomously and use it to solve new tasks efficiently is an important challenge in reinforcement learning. Knowledge acquired during an unsupervised pre-training phase is often transferred by…

Aiming towards a holistic understanding of multiple downstream tasks simultaneously, there is a need for extracting features with better transferability. Though many latest self-supervised pre-training methods have achieved impressive…

Training on large amounts of rationales (i.e., CoT Fine-tuning) is effective at improving the reasoning capabilities of large language models (LLMs). However, acquiring human-authored rationales or augmenting rationales from proprietary…

Large models such as Large Language Models (LLMs) and Vision Language Models (VLMs) have transformed artificial intelligence, powering applications in natural language processing, computer vision, and multimodal learning. However, fully…

Expressing natural language descriptions of structured facts or relations -- data-to-text generation (D2T) -- increases the accessibility of structured knowledge repositories. Previous work shows that pre-trained language models(PLMs)…

Offsite-tuning is a privacy-preserving method for tuning large language models (LLMs) by sharing a lossy compressed emulator from the LLM owners with data owners for downstream task tuning. This approach protects the privacy of both the…

While large language models (LLMs) often adopt finetuning to unlock their capabilities for downstream applications, our understanding on the inductive biases (especially the scaling properties) of different finetuning methods is still…

In this work, we introduce Reinforcement Pre-Training (RPT) as a new scaling paradigm for large language models and reinforcement learning (RL). Specifically, we reframe next-token prediction as a reasoning task trained using RL, where it…

The rapid growth of dataset scales has been a key driver in advancing deep learning research. However, as dataset scale increases, the training process becomes increasingly inefficient due to the presence of low-value samples, including…

The entry of large language models (LLMs) into research and commercial spaces has led to a trend of ever-larger models, with initial promises of generalisability, followed by a widespread desire to downsize and create specialised models…

Continual Pre-training (CPT) serves as a fundamental approach for adapting foundation models to domain-specific applications. Scaling laws for pre-training define a power-law relationship between dataset size and the test loss of an LLM.…