相关论文: Merging Decision Transformers: Weight Averaging fo…

Model merging aggregates Large Language Models (LLMs) finetuned on different tasks into a stronger one. However, parameter conflicts between models leads to performance degradation in averaging. While model routing addresses this issue by…

Matrix factorization is a widely used approach for top-N recommendation and collaborative filtering. When implemented on implicit feedback data (such as clicks), a common heuristic is to upweight the observed interactions. This strategy has…

Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human…

Recently, model merging techniques have surfaced as a solution to combine multiple single-talent models into a single multi-talent model. However, previous endeavors in this field have either necessitated additional training or fine-tuning…

Predictive models that generalize well under distributional shift are often desirable and sometimes crucial to building robust and reliable machine learning applications. We focus on distributional shift that arises in causal inference from…

In federated learning, differences in the data or objectives between the participating nodes motivate approaches to train a personalized machine learning model for each node. One such approach is weighted averaging between a locally trained…

One of the key promises of model-based reinforcement learning is the ability to generalize using an internal model of the world to make predictions in novel environments and tasks. However, the generalization ability of model-based agents…

Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on a weighted sum of conflicting reward functions, requiring…

Learning from Interactive Demonstrations has revolutionized the way non-expert humans teach robots. It is enough to kinesthetically move the robot around to teach pick-and-place, dressing, or cleaning policies. However, the main challenge…

This paper introduces a continual learning approach named MagMax, which utilizes model merging to enable large pre-trained models to continuously learn from new data without forgetting previously acquired knowledge. Distinct from…

Tying the weights of the target word embeddings with the target word classifiers of neural machine translation models leads to faster training and often to better translation quality. Given the success of this parameter sharing, we…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Checkpoint merging is a technique for combining multiple model snapshots into a single superior model, potentially reducing training time for large language models. This paper explores checkpoint merging in the context of…

Transfer learning has become a powerful tool to initialize deep learning models to achieve faster convergence and higher performance. This is especially useful in the medical imaging analysis domain, where data scarcity limits possible…

Reusing large datasets is crucial to scale vision-based robotic manipulators to everyday scenarios due to the high cost of collecting robotic datasets. However, robotic platforms possess varying control schemes, camera viewpoints, kinematic…

Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…

We present machine learning estimators for causal and predictive parameters under covariate shift, where covariate distributions differ between training and target populations. One such parameter is the average effect of a policy that…

Language models trained on diverse datasets unlock generalization by in-context learning. Reinforcement Learning (RL) policies can achieve a similar effect by meta-learning within the memory of a sequence model. However, meta-RL research…

Averaging checkpoints along the training trajectory is a simple yet powerful approach to improve the generalization performance of Machine Learning models and reduce training time. Motivated by these potential gains, and in an effort to…

Shared control in teleoperation leverages both human and robot's strengths and has demonstrated great advantages of reducing the difficulties in teleoperating a robot and increasing the task performance. One fundamental question in shared…