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Paul Zhou

@zhiyuan_zhou_ • 1,459 subscribers

RL & robots. phd @berkeley_ai, prev @physical_int

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Do you ever find finetuning VLA overfits to the target task, to the point where generalist ability is lost and even minor deviations beyond the SFT data break the policy? We found an extremely simple solution: directly merge the base and finetuned policy in weight space 🤯 👇🧵

Do you ever find finetuning VLA overfits to the target task, to the point where generalist ability is lost and even minor deviations beyond the SFT data break the policy? We found an extremely simple solution: directly merge the base and finetuned policy in weight space 🤯 👇🧵

127,678 views • 7 months ago

Can robots self-improve by collecting data autonomously🤖? Introducing SOAR: a system for large-scale autonomous data collection 🚀 and autonomous improvement📈of a multi-task language-conditioned policy in diverse scenes without human interventions .

Can robots self-improve by collecting data autonomously🤖? Introducing SOAR: a system for large-scale autonomous data collection 🚀 and autonomous improvement📈of a multi-task language-conditioned policy in diverse scenes without human interventions .

47,667 views • 2 years ago

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