Related papers: GIFT: Global stabilisation via Intrinsic Fine Tuni…

Large language models are typically post-trained using supervised fine-tuning (SFT) and reinforcement learning (RL), yet effectively unifying efficient knowledge injection with robust generalization remains challenging. In this work, we…

The prevailing post-training paradigm for Large Reasoning Models (LRMs) - Supervised Fine-Tuning (SFT) followed by Reinforcement Learning (RL) - suffers from an intrinsic optimization mismatch: the rigid supervision inherent in SFT induces…

In this work, we present a simple yet theoretically motivated improvement to Supervised Fine-Tuning (SFT) for the Large Language Model (LLM), addressing its limited generalization compared to reinforcement learning (RL). Through…

A promising paradigm for adapting instruction-tuned language models is to learn task-specific updates on a pretrained base model and subsequently merge them into the instruction-tuned model. However, existing approaches typically treat the…

Robots learn reward functions from user demonstrations, but these rewards often fail to generalize to new environments. This failure occurs because learned rewards latch onto spurious correlations in training data rather than the underlying…

Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…

Generative foundation models are susceptible to implicit biases that can arise from extensive unsupervised training data. Such biases can produce suboptimal samples, skewed outcomes, and unfairness, with potentially serious consequences.…

Achieving both realism and controllability in closed-loop traffic simulation remains a key challenge in autonomous driving. Dataset-based methods reproduce realistic trajectories but suffer from covariate shift in closed-loop deployment,…

Generating executable CAD programs from images requires alignment between visual geometry and symbolic program representations, a capability that current methods fail to learn reliably as design complexity increases. Existing fine-tuning…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…

Diffusion models have recently shown strong potential in language modeling, offering faster generation compared to traditional autoregressive approaches. However, applying supervised fine-tuning (SFT) to diffusion models remains…

This paper investigates whether reward matching is a viable alternative to reward maximization methods for on-policy RL of LLMs. Group-relative Implicit Fine-Tuning (GIFT) is proposed, combining GRPO-style group sampling, DPO-style implicit…

The Parameter-Efficient Fine-Tuning (PEFT) method, which adjusts or introduces fewer trainable parameters to calibrate pre-trained models on downstream tasks, has become a recent research interest. However, existing PEFT methods within the…

While Supervised Fine-Tuning (SFT) and Rejection Sampling Fine-Tuning (RFT) are standard for LLM alignment, they either rely on costly expert data or discard valuable negative samples, leading to data inefficiency. To address this, we…

In recent years, a variety of tasks have been accomplished by deep reinforcement learning (DRL). However, when applying DRL to tasks in a real-world environment, designing an appropriate reward is difficult. Rewards obtained via actual…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…

We study a class of reinforcement learning problems where the reward signals for policy learning are generated by an internal reward model that is dependent on and jointly optimized with the policy. This interdependence between the policy…

Dealing with high variance is a significant challenge in model-free reinforcement learning (RL). Existing methods are unreliable, exhibiting high variance in performance from run to run using different initializations/seeds. Focusing on…

Supervised open-loop training has been widely adopted for training traffic simulation models; however, it fails to capture the inherently dynamic, multi-agent interactions common in complex driving scenarios. We introduce RLFTSim, a…

Image-conditioned Video diffusion models achieve impressive visual realism but often suffer from weakened motion fidelity, e.g., reduced motion dynamics or degraded long-term temporal coherence, especially after fine-tuning. We study the…