4 accepted papers
Low-Rank Adaptation (LoRA) has become the de facto paradigm for parameter-efficient fine-tuning, with its effectiveness critically influenced by rank allocation across modules. However, existing approaches face a fundamental dilemma: uniform allocation ignores module heterogeneity, while adaptive me…
Recent advances in reasoning capabilities of large language models (LLMs) are largely driven by reinforcement learning (RL), yet the underlying parameter dynamics during RL training remain poorly understood. This work identifies two fundamental properties of RL-induced parameter updates in LLMs: (1)…
Reliable and stable locomotion has been one of the most fundamental challenges for legged robots. Deep reinforcement learning (deep RL) has emerged as a promising method for developing such control policies autonomously. In this paper, we develop a system for learning legged locomotion policies with
Neural networks and tree ensembles are state-of-the-art learners, each with its unique statistical and computational advantages. We aim to combine these advantages by introducing a new layer for neural networks, composed of an ensemble of differentiable decision trees (a.k.a. soft trees). While diff…