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A machine learning model that generalizes well should obtain low errors on unseen test examples. Thus, if we learn an optimal model in training data, it could have better generalization performance in testing tasks. However, learning such a…

Deep reinforcement learning algorithms require large and diverse datasets in order to learn successful policies for perception-based mobile navigation. However, gathering such datasets with a single robot can be prohibitively expensive.…

Despite the high performance achieved by deep neural networks on various tasks, extensive studies have demonstrated that small tweaks in the input could fail the model predictions. This issue of deep neural networks has led to a number of…

Model merging aims to cheaply combine individual task-specific models into a single multitask model. In this work, we view past merging methods as leveraging different notions of a ''task parameter subspace'' in which models are matched…

By merging models, AI systems can combine the distinct strengths of separate language models, achieving a balance between multiple capabilities without requiring substantial retraining. However, the integration process can be intricate due…

Model merging has shown great promise at combining expert models, but the benefit of merging is unclear when merging "generalist" models trained on many tasks. We explore merging in the context of large (~100B) models, by recycling…

Model merging unifies independently fine-tuned LLMs from the same base, enabling reuse and integration of parallel development efforts without retraining. However, in practice we observe that merging does not always succeed: certain…

From a multi-model compression perspective, model merging enables memory-efficient serving of multiple models fine-tuned from the same base, but suffers from degraded performance due to interference among their task-specific parameter…

In this work, we explore whether modeling recurrence into the Transformer architecture can both be beneficial and efficient, by building an extremely simple recurrent module into the Transformer. We compare our model to baselines following…

With the tremendous success of deep learning in visual tasks, the representations extracted from intermediate layers of learned models, that is, deep features, attract much attention of researchers. Previous empirical analysis shows that…

In this study, we leverage the deliberate and systematic fault-injection capabilities of an open-source benchmark suite to perform a series of experiments on state-of-the-art deep and robust reinforcement learning algorithms. We aim to…

Generalist robot policies, trained on large and diverse datasets, have demonstrated the ability to generalize across a wide spectrum of behaviors, enabling a single policy to act in varied real-world environments. However, they still fall…

Neural network robustness has become a central topic in machine learning in recent years. Most training algorithms that improve the model's robustness to adversarial and common corruptions also introduce a large computational overhead,…

Adversarial robustness is considered as a required property of deep neural networks. In this study, we discover that adversarially trained models might have significantly different characteristics in terms of margin and smoothness, even…

Model merging aims to integrate multiple task-specific models into a unified model that inherits the capabilities of the task-specific models, without additional training. Existing model merging methods often lack consideration of the…

Robust training methods typically defend against specific attack types, such as Lp attacks with fixed budgets, and rarely account for the fact that defenders may encounter new attacks over time. A natural solution is to adapt the defended…

Deep reinforcement learning (RL) is notoriously impractical to deploy due to sample inefficiency. Meta-RL directly addresses this sample inefficiency by learning to perform few-shot learning when a distribution of related tasks is available…

Model merging has attracted significant attention as a powerful paradigm for model reuse, facilitating the integration of task-specific models into a singular, versatile framework endowed with multifarious capabilities. Previous studies,…

Merging has become a widespread way to cheaply combine individual models into a single model that inherits their capabilities and attains better performance. This popularity has spurred rapid development of many new merging methods, which…

Reinforcement learning is a promising paradigm for solving sequential decision-making problems, but low data efficiency and weak generalization across tasks are bottlenecks in real-world applications. Model-based meta reinforcement learning…