7 accepted papers
Large-scale web-crawled datasets contain noise, bias, and irrelevant information, necessitating data selection techniques. Existing methods depend on hand-crafted heuristics, downstream datasets, or require expensive influence-based computations---all of which limit scalability and introduce unwante…
Hybrid sequence models—combining Transformer and state-space model layers—seek to gain the expressive versatility of attention as well as the computational efficiency of state-space model layers. Despite burgeoning interest in hybrid models, we lack a basic understanding of the settings where—and un…
This paper introduces a path planning algorithm for executing robotic manipulation tasks with maximum dexterity in the workspace. This is achieved by using the workspace density of the end-effector as the objective function in a sampling-based planner. In doing so, the path planning algorithm priori…
Activation steering promises to be an extremely parameter-efficient form of adaptation, but its effectiveness depends on critical design choices---such as intervention location and parameterization---that currently rely on empirical heuristics rather than a principled foundation. We establish a firs…
Large Language Models (LLMs) have demonstrated remarkable in-context learning (ICL) capabilities. In this study, we explore a surprising phenomenon related to ICL: LLMs can perform multiple, computationally distinct ICL tasks simultaneously, during a single inference call, a capability we term task…
The weak-to-strong generalization phenomenon is the driver for important machine learning applications including highly data-efficient learning and, most recently, performing superalignment. While decades of research have resulted in numerous algorithms that produce strong empirical performance, und…
The method of Frobenius Norm (FN) minimization of forward kinematic Jacobians is presented to minimize the sensitivity of a robotic manipulator. We demonstrate the effectiveness of this approach with a Monte Carlo simulation of an Assembler robot. The Assembler is described as a stack of Stewart Pla…