13 accepted papers
Autoregressive models (ARMs) currently constitute the dominant paradigm for large language models (LLMs). Energy-based models (EBMs) represent another class of models, which have historically been less prevalent in LLM development, yet naturally characterize the optimal policy in post-training align…
Despite the vast empirical evidence supporting the efficacy of adaptive optimization methods in deep learning, their theoretical understanding is far from complete. This work introduces novel SDEs for commonly used adaptive optimizers: SignSGD, RMSprop(W), and Adam(W). These SDEs offer a quantitativ…
In the field of signal processing for robotics, the inverse kinematics of robot arms presents a significant challenge due to multiple solutions caused by redundant degrees of freedom (DOFs). Precision is also a crucial performance indicator for robot arms. Current methods typically rely on condition…
Energy-based models (EBMs) offer a flexible framework for parameterizing probability distributions using neural networks. However, learning EBMs by exact maximum likelihood estimation (MLE) is generally intractable, due to the need to compute the partition function. In this paper, we propose a novel…
The logistic loss (a.k.a. cross-entropy loss) is one of the most popular loss functions used for multiclass classification. It is also the loss function of choice for next-token prediction in language modeling. It is associated with the Kullback-Leibler (KL) divergence and the softargmax operator.…
Precision is a crucial performance indicator for robot arms. During interacting with human, high precision enables a robot arm to be used effectively and safely, while low precision may lead to safety issues. Traditional methods for improving robot arm precision rely on error compensation. However,
Aligning language models with human preferences is crucial for reducing errors and biases in these models. Alignment techniques, such as reinforcement learning from human feedback (RLHF), are typically cast as optimizing a tradeoff between human preference rewards and a proximity regularization term…
Claim: This work is not advocating the use of LLMs for paper (meta-)reviewing. Instead, wepresent a comparative analysis to identify and distinguish LLM activities from human activities. Two research goals: i) Enable better recognition of instances when someone implicitly uses LLMs for reviewing act…
We propose a state estimation method that can accurately predict the robot’s privileged states to push the limits of quadruped robots in executing advanced skills such as jumping in the wild. In particular, we present the State Estimation Transformers (SET), an architecture that casts the state esti…
Quadrupedal robots are performing increasingly more real-world capabilities, but are primarily limited to locomotion tasks. To expand their task-level abilities of object acquisition, i.e., run-to-catch as frisbee catching for dogs, this paper developed a control pipeline using stereo vision for leg…
Regularized optimal transport (OT) is now increasingly used as a loss or as a matching layer in neural networks. Entropy-regularized OT can be computed using the Sinkhorn algorithm but it leads to fully-dense transportation plans, meaning that all sources are (fractionally) matched with all targets.…
Many practical problems need the output of a machine learning model to satisfy a set of constraints, $K$. Nevertheless, there is no known guarantee that classical neural network architectures can exactly encode constraints while simultaneously achieving universality. We provide a quantitative cons…
Deep neural networks have dramatically transformed machine learning, but their memory and energy demands are substantial. The requirements of real biological neural networks are rather modest in comparison, and one feature that might underlie this austerity is their sparse connectivity. In deep lear…