相关论文: EffiTune: Diagnosing and Mitigating Training Ineff…

Fine-tuning pre-trained models with custom data leads to numerous expert models on specific tasks. Merging models into one universal model to empower multi-task ability refraining from data leakage has gained popularity. With the expansion…

With the ever-increasing number of pretrained models, machine learning practitioners are continuously faced with which pretrained model to use, and how to finetune it for a new dataset. In this paper, we propose a methodology that jointly…

Modern database management systems (DBMS) expose hundreds of configurable knobs to control system behaviours. Determining the appropriate values for these knobs to improve DBMS performance is a long-standing problem in the database…

Precise pick-and-place is essential in robotic applications. To this end, we define a novel exact training method and an iterative inference method that improve pick-and-place precision with Transporter Networks. We conduct a large scale…

Deep learning has recently become one of the most compute/data-intensive methods and is widely used in many research areas and businesses. One of the critical challenges of deep learning is that it has many parameters that can be adjusted,…

In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…

Recent works have shown that large models pretrained on common visual learning tasks can provide useful representations for a wide range of specialized perception problems, as well as a variety of robotic manipulation tasks. While prior…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Prompt tuning is a promising method to fine-tune a pre-trained language model without retraining its large-scale parameters. Instead, it attaches a soft prompt to the input text, whereby downstream tasks can be well adapted by merely…

The performance of modern reinforcement learning algorithms critically relies on tuning ever-increasing numbers of hyperparameters. Often, small changes in a hyperparameter can lead to drastic changes in performance, and different…

Predicting chaotic dynamical systems is critical in many scientific fields, such as weather forecasting, but challenging due to the characteristic sensitive dependence on initial conditions. Traditional modeling approaches require extensive…

The advent of hyper-scale and general-purpose pre-trained models is shifting the paradigm of building task-specific models for target tasks. In the field of audio research, task-agnostic pre-trained models with high transferability and…

Fine-tuning policies learned offline remains a major challenge in application domains. Monotonic performance improvement during \emph{fine-tuning} is often challenging, as agents typically experience performance degradation at the early…

Real-world model deployments demand strong performance on narrow domains where data is often scarce. Typically, practitioners finetune models to specialize them, but this risks overfitting to the domain and forgetting general knowledge. We…

We propose a novel framework for enhancing robotic adaptability and learning efficiency, which integrates unsupervised trajectory segmentation with adaptive probabilistic movement primitives (ProMPs). By employing a cutting-edge deep…

Industrial robots play an increasingly important role in a growing number of fields. For example, robotics is used to increase productivity while reducing costs in various aspects of manufacturing. Since robots are often set up in…

A majority of recent advancements related to the fault diagnosis of electrical motors are based on the assumption that training and testing data are drawn from the same distribution. However, the data distribution can vary across different…

Adapters have been positioned as a parameter-efficient fine-tuning (PEFT) approach, whereby a minimal number of parameters are added to the model and fine-tuned. However, adapters have not been sufficiently analyzed to understand if PEFT…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…