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Reinforcement Learning (RL) has long been the dominant method for fine-tuning, powering many state-of-the-art LLMs. Methods like PPO and GRPO explore in action space. But can we instead explore directly in parameter space? YES we can. We propose a scalable framework for full-parameter fine-tuning using Evolution Strategies (ES). By...

415,936 просмотров • 1 год назад •via X (Twitter)

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Full Fine-tuning vs. Freezing Layers. Interact 👉 and == Full Fine-tuning == A real network has many — three layers in this example, billions of parameters in a production model. What does fine-tuning look like when you update all of them? That’s full fine-tuning: continue training every weight in the pretrained network on your new task. Every layer’s W gets its own ΔW. Nothing is frozen — every parameter is in play. Think of an MLP as a chain of prerequisites leading to an advanced course. Layer 1 might be Linear Algebra, layer 2 Probability, layer 3 Advanced Machine Learning — each one building on what came before. Fine-tuning is what happens during graduate study: the foundations are already there from undergrad, so you’re not re-learning. Full fine-tuning is reviewing every prerequisite to see what new topics have appeared and what discoveries the field has made since the last time you sat through them. Effective — but exhausting. This diagram shows the same three-layer MLP twice, side by side. On the left, the pretrained network runs on input X: three weight matrices W₁, W₂, W₃, each followed by a ReLU activation. Full fine-tuning gives the model the most freedom to specialize. Every parameter can move — and every parameter that can move must be stored. But not every prerequisite needs revisiting. The further you go back in the chain, the less the material has changed since pretraining — the linear-algebra basics under your computer-vision course are largely the same as they ever were. The next page does exactly that: freeze the prerequisites that haven’t moved, and only refresh the advanced one closest to your specialization. == Freezing Layers == Full fine-tuning reviewed every prerequisite — Linear Algebra, Probability, Advanced ML — to refresh each subject with the latest topics. Effective, but exhausting. Then you realize something. The prerequisites haven’t actually changed that much. Linear Algebra is still Linear Algebra; the matrix decompositions you learned still hold. Probability is still Probability; the distributions and Bayes’ rule haven’t moved. Almost all the new material — the new ideas, the recent discoveries — lives in the advanced layer at the top. That’s freezing layers: keep the prerequisite layers fixed at their pretrained state, and only update the advanced one. In the diagram below, W1​ and W2​ — the foundational prerequisites — stay frozen. Only W3​ — the layer closest to your task-specific output — gets a ΔW.

Tom Yeh

27,740 просмотров • 6 месяцев назад

Model-Free Reinforcement Learning (MFRL) has been alluring, especially with supercharged compute with physics on GPU. However, the methods use 0-th order gradients, and are often not the best optimizers. Can we do better than PPO in continuous control for robotics? Turns out yes! 🥳 tl;dr: Faster, better RL than PPO in continuous control 💪 The answer lies in using more information from the simulation. We are juicing the simulation on GPU as it is, why not use it for gradients as well? This has been a driving question in a series of our works. We first studied this problem in ICLR 2022 paper on Short Horizon Actor Critic Naive gradient based methods are stuck in local minima and have exploding/vanishing gradients. SHAC solved this problem truncated rollouts and model based value estimation, where the model is Differentiable Sim. This boosted sample efficiency and wall-clock time immensely especially in high dimensional systems such as humanoids Yet, given enough compute PPO often caught up. Our follow up paper on on Adaptive Horizon Actor Critic at ICML 2024 discovers the cause and provides a fix. However, we find that even when given ground-truth dynamics, not all gradients are useful due to sample error. 1st-Order Model-Based Reinforcement Learning methods employing differentiable simulation provide gradients with reduced variance but are susceptible to bias in scenarios involving stiff dynamics, such as physical contact. We find that back-propagating through contact and long trajectories drastically reduces gradient accuracy. Using this insight, we propose AHAC to dynamically adapt its roll-out horizon to avoid differentiating through stiff contact. AHAC is a first-order model-based RL algorithm that learns high-dimensional tasks in minutes (wall clock) and outperforms PPO by 40%, even in the limit of data provided to PPO. This work is led by Ignat Georgiev alongside Krishnan Srinivasan, Jie Xu, Eric Heiden and ample assistance from warp team at NVIDIA Robotics (Miles Macklin)

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