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Vision-Language-Action (VLA) models inherit strong priors from pretrained Vision-Language Models (VLMs), but naive fine-tuning often disrupts these representations and harms generalization. Existing fixes -- freezing modules or applying…

Recent advancements in Large Language Models (LLMs) have emphasized the critical role of fine-tuning (FT) techniques in adapting LLMs to specific tasks, especially when retraining from scratch is computationally infeasible. Fine-tuning…

Deep generative models provide state-of-the-art performance across a wide array of applications, with recent studies showing increasing applicability for science and engineering. Despite a growing corpus of literature focused on the…

Fine-tuning is an important step in adapting foundation models such as large language models to downstream tasks. To make this step more accessible to users with limited computational budgets, it is crucial to develop fine-tuning methods…

With the emergence of pretrained vision-language models (VLMs), considerable efforts have been devoted to fine-tuning them for downstream tasks. Despite the progress made in designing efficient fine-tuning methods, such methods require…

Catastrophic forgetting is a well-documented challenge in model fine-tuning, particularly when the downstream domain has limited labeled data or differs substantially from the pre-training distribution. Existing parameter-efficient…

The goal of continual learning is to improve the performance of recognition models in learning sequentially arrived data. Although most existing works are established on the premise of learning from scratch, growing efforts have been…

Supervised fine-tuning (SFT) on domain-specific data is the dominant approach for adapting foundation models to specialized tasks. However, it has been observed that SFT models tend to forget knowledge acquired during pretraining. In vision…

Continual learning is a long-standing challenge in robot policy learning, where a policy must acquire new skills over time without catastrophically forgetting previously learned ones. While prior work has extensively studied continual…

Parameter-Efficient Fine-Tuning (PEFT) of text-to-image models has become an increasingly popular technique with many applications. Among the various PEFT methods, Low-Rank Adaptation (LoRA) and its variants have gained significant…

Vision-Language-Action (VLA) models have shown great potential in general robotic decision-making tasks via imitation learning. However, the variable quality of training data often constrains the performance of these models. On the other…

Understanding the vulnerability of large-scale pre-trained vision-language models like CLIP against adversarial attacks is key to ensuring zero-shot generalization capacity on various downstream tasks. State-of-the-art defense mechanisms…

Parameter-efficient fine-tuning (PEFT) has become the standard approach for adapting large language models under limited compute and memory budgets. Although previous methods improve efficiency through low-rank updates, quantization, or…

Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to leverage video data but often suffer from…

Continual learning for pre-trained vision-language models requires balancing three competing objectives: retaining pre-trained knowledge, preserving knowledge from a sequence of learned tasks, and maintaining the plasticity to acquire new…

Large language models (LLMs) have achieved remarkable success across various tasks but face deployment challenges due to their massive computational demands. While post-training pruning methods like SparseGPT and Wanda can effectively…

Supervised and preference-based fine-tuning techniques have become popular for aligning large language models (LLMs) with user intent and correctness criteria. However, real-world training data often exhibits spurious correlations --…

This study explores the fine-tuning (FT) of the Open Pre-trained Transformer (OPT-125M) for grammatical acceptability tasks using the CoLA dataset. By comparing Vanilla-Fine-Tuning (VFT), Pattern-Based-Fine-Tuning (PBFT), and…

Reinforcement Learning with Verifiable Rewards (RLVR) reliably improves the reasoning performance of large language models, yet it appears to modify only a small fraction of parameters. We revisit this paradox and show that sparsity is a…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…