相关论文: RAPTOR: Ridge-Adaptive Logistic Probes

Many graph embedding approaches have been proposed for knowledge graph completion via link prediction. Among those, translating embedding approaches enjoy the advantages of light-weight structure, high efficiency and great interpretability.…

In recent times, reinforcement learning has produced baffling results when it comes to performing control tasks with highly non-linear systems. The impressive results always outweigh the potential vulnerabilities or uncertainties associated…

Activation steering has emerged as a promising approach for efficiently adapting large language models (LLMs) to downstream behaviors. However, most existing steering methods rely on a single static direction per task or concept, making…

Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On the contrary, we follow the design principle of "less is…

The integration of Large Language Models (LLMs) into autonomous driving systems demonstrates strong common sense and reasoning abilities, effectively addressing the pitfalls of purely data-driven methods. Current LLM-based agents require…

Reinforcement learning (RL) has been widely applied to sequential decision making, where interpretability and performance are both critical for practical adoption. Current approaches typically focus on performance and rely on post hoc…

Production LLM systems often rely on separate models for safety and other classification-heavy steps, increasing latency, VRAM footprint, and operational complexity. We instead reuse computation already paid for by the serving LLM: we train…

Looped Language Models (LoopLMs) perform multi-step latent reasoning prior to token generation and outperform conventional LLMs on reasoning benchmarks at smaller parameter budgets. However, attempts to further improve LoopLM reasoning with…

Reinforcement Learning, particularly through policy gradient methods, has played a central role in enabling reasoning capabilities of Large Language Models. However, the optimization stability of policy gradients in this setting remains…

Reinforcement Learning with Verifiable Rewards (RLVR) has recently emerged as a powerful paradigm for facilitating the self-improvement of large language models (LLMs), particularly in the domain of complex reasoning tasks. However,…

Large language models (LLMs) excel at language understanding and generation, but their enormous computational and memory requirements hinder deployment. Compression offers a potential solution to mitigate these constraints. However, most…

For many high-dimensional studies, additional information on the variables, like (genomic) annotation or external p-values, is available. In the context of binary and continuous prediction, we develop a method for adaptive group-regularized…

Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…

Traversing narrow gates presents a significant challenge and has become a standard benchmark for evaluating agile and precise quadrotor flight. Traditional modularized autonomous flight stacks require extensive design and parameter tuning,…

We study how much a linear program (LP) can be compressed when solved repeatedly, given prior knowledge about its objective function. Existing data-driven projection methods learn low-dimensional surrogate LPs with approximate…

Training and fine-tuning large language models (LLMs) come with challenges related to memory and computational requirements due to the increasing size of the model weights and the optimizer states. Various techniques have been developed to…

Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…

In this paper, we introduce Symmetric Low-Rank Adapters, an optimized variant of LoRA with even fewer weights. This method utilizes Low-Rank Symmetric Weight Matrices to learn downstream tasks more efficiently. Traditional LoRA accumulates…

We consider the most common variants of linear regression, including Ridge, Lasso and Support-vector regression, in a setting where the learner is allowed to observe only a fixed number of attributes of each example at training time. We…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…