Related papers: Fast-dVLA: Accelerating Discrete Diffusion VLA to …

Recent Vision-Language-Action (VLA) models reformulate vision-language models by tuning them with millions of robotic demonstrations. While they perform well when fine-tuned for a single embodiment or task family, extending them to…

Federated learning (FL) was recently proposed to securely train models with data held over multiple locations (``clients'') under the coordination of a central server. Prolonged training times caused by slow clients may hinder the…

Finetuning a pretrained model has become a standard approach for training neural networks on novel tasks, resulting in fast convergence and improved performance. In this work, we study an alternative finetuning method, where instead of…

Vision-language-action (VLA) models have recently shown strong potential in enabling robots to follow language instructions and execute precise actions. However, most VLAs are built upon vision-language models pretrained solely on 2D data,…

Generalization remains a core challenge in embodied AI, as robots must adapt to diverse environments. While OpenVLA represents the State-of-the-Art (SOTA) in Vision-Language-Action models by leveraging large-scale pre-training, its…

Adapter tuning, which updates only a few parameters, has become a mainstream method for fine-tuning pretrained language models to downstream tasks. However, it often yields subpar results in few-shot learning. AdapterFusion, which assembles…

Deep Reinforcement Learning (DRL) has recently been proposed as a methodology to discover complex Active Flow Control (AFC) strategies [Rabault, J., Kuchta, M., Jensen, A., Reglade, U., & Cerardi, N. (2019): "Artificial neural networks…

Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…

Diffusion models have achieved remarkable success in image generation, yet their deployment remains constrained by the heavy computational cost and the need for numerous inference steps. Previous efforts on fewer-step distillation attempt…

Post-training has demonstrated its importance in enhancing the reasoning capabilities of large language models (LLMs). The primary post-training methods can be categorized into supervised fine-tuning (SFT) and reinforcement fine-tuning…

Diffusion Transformers (DiTs) have shown remarkable performance in generating high-quality videos. However, the quadratic complexity of 3D full attention remains a bottleneck in scaling DiT training, especially with high-definition, lengthy…

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…

Medical vision foundation models remain limited in downstream tasks, particularly volumetric medical image segmentation. While fine-tuning on labeled target-domain data improves performance, existing approaches typically rely on randomly…

Vision-language models (VLMs) predominantly rely on autoregressive decoding, which generates tokens one at a time and fundamentally limits inference throughput. This limitation is especially acute in physical AI scenarios such as robotics…

Supervised Fine-Tuning (SFT) on domain-specific datasets is a common approach to adapt Large Language Models (LLMs) to specialized tasks but is often believed to degrade their general capabilities. In this work, we revisit this trade-off…

In natural language processing tasks, pure reinforcement learning (RL) fine-tuning methods often suffer from inefficient exploration and slow convergence; while supervised fine-tuning (SFT) methods, although efficient in training, have…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

Transfer learning through fine-tuning a pre-trained neural network with an extremely large dataset, such as ImageNet, can significantly accelerate training while the accuracy is frequently bottlenecked by the limited dataset size of the new…

Despite the success, the process of fine-tuning large-scale PLMs brings prohibitive adaptation costs. In fact, fine-tuning all the parameters of a colossal model and retaining separate instances for different tasks are practically…

Pre-trained Vision Transformers now serve as powerful tools for computer vision. Yet, efficiently adapting them for multiple tasks remains a challenge that arises from the need to modify the rich hidden representations encoded by the…