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Visual Planning for Assistance (VPA) aims to predict a sequence of user actions required to achieve a specified goal based on a video showing the user's progress. Although recent advances in multimodal large language models (MLLMs) have…

Recent breakthroughs in Multimodal Large Language Models (MLLMs) have gained significant recognition within the deep learning community, where the fusion of the Video Foundation Models (VFMs) and Large Language Models(LLMs) has proven…

Vision Language Models (VLMs) have undergone significant advancements, particularly with the emergence of mobile-oriented VLMs, which offer a wide range of application scenarios. However, the substantial computational requirements for…

Recently, some studies have integrated Multimodal Large Language Models into robotic manipulation, constructing vision-language-action models (VLAs) to interpret multimodal information and predict SE(3) poses. While VLAs have shown…

Adapting Large Language Models (LLMs) to downstream tasks using Reinforcement Learning (RL) has proven to be an effective approach. However, LLMs do not inherently define the structure of an agent for RL training, particularly in terms of…

Action recognition is a crucial task in artificial intelligence, with significant implications across various domains. We initially perform a comprehensive analysis of seven prominent action recognition methods across five widely-used…

For many computer vision applications, such as image description and human identification, recognizing the visual attributes of humans is an essential yet challenging problem. Its challenges originate from its multi-label nature, the large…

Fine-tuning pre-trained large language models in a parameter-efficient manner is widely studied for its effectiveness and efficiency. LoRA is one of the most widely used methods, which assumes that the optimization process is essentially…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…

Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…

Low-rank Adaptation (LoRA) has gained popularity as a fine-tuning approach for Large Language Models (LLMs) due to its low resource requirements and good performance. While a plethora of work has investigated improving LoRA serving…

There has been a significant increase in the deployment of neural network models, presenting substantial challenges in model adaptation and fine-tuning. Efficient adaptation is crucial in maintaining model performance across diverse tasks…

Federated fine-tuning of large language models (LLMs) with low-rank adaptation (LoRA) offers a communication-efficient and privacy-preserving solution for task-specific adaptation. Naive aggregation of LoRA modules introduces noise due to…

Reinforcement Learning from Human Feedback (RLHF) has emerged as a pivotal technique for aligning artificial intelligence systems with human values, achieving remarkable success in fine-tuning large language models. However, existing RLHF…

Vision-language-action (VLA) models demonstrate strong generalization in robotic manipulation but face challenges in complex, real-world tasks. While supervised fine-tuning with demonstrations is constrained by data quality, reinforcement…

Existing low-rank adaptation (LoRA) methods face challenges on sparse large language models (LLMs) due to the inability to maintain sparsity. Recent works introduced methods that maintain sparsity by augmenting LoRA techniques with…

The representation of feature space is a crucial environment where data points get vectorized and embedded for subsequent modeling. Thus the efficacy of machine learning (ML) algorithms is closely related to the quality of feature…

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular,…

Among the widely used parameter-efficient fine-tuning (PEFT) methods, LoRA and its variants have gained considerable popularity because of avoiding additional inference costs. However, there still often exists an accuracy gap between these…

In this paper, we show that Low Rank Adaptation (LoRA) as originally introduced in Hu et al. (2021) leads to suboptimal finetuning of models with large width (embedding dimension). This is due to the fact that adapter matrices A and B in…