Related papers: Self-Improving Embodied Foundation Models

Foundation models pre-trained on large-scale data have been widely witnessed to achieve success in various natural imaging downstream tasks. Parameter-efficient fine-tuning (PEFT) methods aim to adapt foundation models to new domains by…

Fine-tuning pretrained models is a standard and effective workflow in modern machine learning. However, robust fine-tuning (RFT), which aims to simultaneously achieve adaptation to a downstream task and robustness to adversarial examples,…

Embodied agents can benefit from skills that guide object search, action execution, and state changes across diverse environments. Since embodied environments vary across layouts, object states, and other execution factors, these skills…

The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which…

Pre-trained foundation models, due to their enormous capacity and exposure to vast amounts of data during pre-training, are known to have learned plenty of real-world concepts. An important step in making these pre-trained models effective…

Embodied navigation that adheres to social norms remains an open research challenge. Our SocialNav is a foundational model for socially-aware navigation with a hierarchical "brain-action" architecture, capable of understanding high-level…

Embodied AI is a crucial frontier in robotics, capable of planning and executing action sequences for robots to accomplish long-horizon tasks in physical environments. In this work, we introduce EmbodiedGPT, an end-to-end multi-modal…

Federated Learning (FL) allows collaborative model training among distributed parties without pooling local datasets at a central server. However, the distributed nature of FL poses challenges in training fair federated learning models. The…

Morphology-aware policy learning is a means of enhancing policy sample efficiency by aggregating data from multiple agents. These types of policies have previously been shown to help generalize over dynamic, kinematic, and limb…

Imitation learning has shown great potential for enabling robots to acquire complex manipulation behaviors. However, these algorithms suffer from high sample complexity in long-horizon tasks, where compounding errors accumulate over the…

Federated learning (FL) has emerged as a promising paradigm for enabling the collaborative training of models without centralized access to the raw data on local devices. In the typical FL paradigm (e.g., FedAvg), model weights are sent to…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…

Operating directly from raw high dimensional sensory inputs like images is still a challenge for robotic control. Recently, Reinforcement Learning methods have been proposed to solve specific tasks end-to-end, from pixels to torques.…

This paper surveys research works in the quickly advancing field of instruction tuning (IT), which can also be referred to as supervised fine-tuning (SFT)\footnote{In this paper, unless specified otherwise, supervised fine-tuning (SFT) and…

Parameter-efficient fine-tuning (PEFT) has become a common method for fine-tuning large language models, where a base model can serve multiple users through PEFT module switching. To enhance user experience, base models require periodic…

Large Language Models (LLMs) are typically fine-tuned for reasoning tasks through a two-stage pipeline of Supervised Fine-Tuning (SFT) followed by Reinforcement Learning (RL), a process fraught with catastrophic forgetting and suboptimal…

Aligning human preference and value is an important requirement for contemporary foundation models. State-of-the-art techniques such as Reinforcement Learning from Human Feedback (RLHF) often consist of two stages: 1) supervised fine-tuning…

Pre-trained foundation models (FMs), with extensive number of neurons, are key to advancing next-generation intelligence services, where personalizing these models requires massive amount of task-specific data and computational resources.…