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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...

415,583 görüntüleme • 11 ay önce •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 görüntüleme • 4 ay önce

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)

Animesh Garg

52,308 görüntüleme • 2 yıl önce

𝗗𝗼𝗻'𝘁 𝗳𝗶𝗻𝗲-𝘁𝘂𝗻𝗲 𝗿𝗼𝗯𝗼𝘁 𝗳𝗼𝘂𝗻𝗱𝗮𝘁𝗶𝗼𝗻 𝗺𝗼𝗱𝗲𝗹𝘀. 𝗦𝘁𝗲𝗲𝗿 𝘁𝗵𝗲𝗺 𝘄𝗶𝘁𝗵 𝗵𝘂𝗺𝗮𝗻 𝗰𝗼𝗿𝗿𝗲𝗰𝘁𝗶𝗼𝗻𝘀 𝗶𝗻𝘀𝘁𝗲𝗮𝗱, 𝘄𝗶𝘁𝗵𝗼𝘂𝘁 𝗰𝗵𝗮𝗻𝗴𝗶𝗻𝗴 𝘁𝗵𝗲 𝗯𝗮𝘀𝗲 𝗽𝗼𝗹𝗶𝗰𝘆 Modern VLAs and world-action models can perform impressive manipulation skills, but adapting them reliably to new robots and tasks remains challenging. A natural solution is DAgger-style online imitation learning: deploy the robot, collect human corrections, and update the policy. Yet foundation models are fragile in the low-data regime, fine-tuning on a handful of interventions can improve one behavior while degrading others. Online post-training or reinforcement learning can require costly data collection and exploration, making real-world learning expensive and potentially unsafe. In our new paper, 𝗙𝗹𝗼𝘄𝗗𝗔𝗴𝗴𝗲𝗿, we take a different approach: 𝗜𝗻𝘀𝘁𝗲𝗮𝗱 𝗼𝗳 𝗰𝗵𝗮𝗻𝗴𝗶𝗻𝗴 𝘁𝗵𝗲 𝗳𝗼𝘂𝗻𝗱𝗮𝘁𝗶𝗼𝗻 𝗺𝗼𝗱𝗲𝗹, 𝘄𝗲 𝗹𝗲𝗮𝗿𝗻 𝗵𝗼𝘄 𝘁𝗼 𝘀𝘁𝗲𝗲𝗿 𝗶𝘁 𝗳𝗿𝗼𝗺 𝗵𝘂𝗺𝗮𝗻 𝗰𝗼𝗿𝗿𝗲𝗰𝘁𝗶𝗼𝗻𝘀. The key idea is 𝗮𝗰𝘁𝗶𝗼𝗻 𝗶𝗻𝘃𝗲𝗿𝘀𝗶𝗼𝗻: we map human corrective actions back into the latent noise space of the frozen generative policy. These latent targets train a lightweight controller that adapts the robot while preserving the original model's capabilities. Across simulation and real robots, FlowDAgger: 📈 Learns from only 5–20 human intervention episodes 🏆 Outperforms supervised fine-tuning and latent-space reinforcement learning 🤖 Works across VLAs, diffusion policies, and world-action models ✔️ Provides reliable improvements without modifying the pretrained policy We believe this offers a practical path toward making robot foundation models improve during deployment, learning from the way humans naturally teach: through corrections. 📄 Paper: 🌐 Project: 💻 Code: This project was led by my amazing colleague Michael Murray with help from Daphne Chen, Simran Bagaria, Dean Fortier, Tess Hellebrekers, Harshavardhan Reddy Gajarla, Galen Mullins and Andrey Kolobov at Microsoft Research and Maya Cakmak at University of Washington

Oier Mees

13,276 görüntüleme • 2 ay önce

The Sabotaging Practice of Over Supply and Sameness in the NFT Space. The current zeitgeist of the NFT space is that the same artists are doing the same kind of work five times a year, with project after project leaving a trail of disappointment and discontent among collectors and all of us watching in disbelief as huge resources are extracted from the space over work that feels like it could be left as an "artist study." I understand that you can do what you want with your money as collectors, but we are killing the whole space with this incestuous practice. No artist is that prolific to be able to do 5 collections of 100+ pieces each every year and actually deliver innovation and some kind of creative evolution. Of course, they can pretend play that the work has something new, but there is no precedent nor proof that that has ever happened in the speed that it happens in the NFT space. Again, people are free to through away their resources on whatever they want but with this way of doing things, we more and more are going to start seeing the consequences. Oh! There are consequences? Yes. Maybe unintended, but there are. Let's see. Let's start with the loss of belief in the NFT space as somewhere where emerging artists can come and find support for their experiments. Why even bother to bring experiments, innovation, and new ways to think of art on the blockchain if the same people have all the collectors hypnotized with their magical flutes? Why even try to come to a space where taking risks and challenging the status quo (the mission of art!!!) is overlooked? This makes the NFT space a social club and not a space for art. I guess it is fine, but IMO it is a recipe for disaster. New collectors stay away because the art will slowly but surely become stale and un-challenging. Why even bother to come and see what is happening here if you can't, as a collector, see new weird and up-and-coming artists? The amount of noise emitted by the same artists doing the same art over and over, drowns out any new voices. Again. A recipe for disaster. The NFT space is becoming a space of disappointment and doubt. We think that collections going to zero one after the other, over and over, is not damaging? I feel we are kidding ourselves. Disappointment piles up, and again, the people who will hurt are the emerging artists, the new blood, the ones who are willing to risk the most and, in return, put fire in this cold space of sameness. I love this space—don't get me wrong—it has changed my life, and I believe it has a ton of potential, but things need to change for it to become a beacon of light in art. But we need to support new voices. We need to support new ideas. The challenge is huge. I hope to contribute all I can to this change. I hope more and more see how exciting it is to go out and try to discover what else is out there and move this space forward. But again, I understand the leaps of faith needed, but if there is a space that is based on that, it's the NFT space...so there is hope. We will see. 📺by Boldtron

alejandro cartagena

98,261 görüntüleme • 2 yıl önce

LongWriter Unleashing 10,000+ Word Generation from Long Context LLMs discuss: Current long context large language models (LLMs) can process inputs up to 100,000 tokens, yet struggle to generate outputs exceeding even a modest length of 2,000 words. Through controlled experiments, we find that the model's effective generation length is inherently bounded by the sample it has seen during supervised fine-tuning (SFT). In other words, their output limitation is due to the scarcity of long-output examples in existing SFT datasets. To address this, we introduce AgentWrite, an agent-based pipeline that decomposes ultra-long generation tasks into subtasks, enabling off-the-shelf LLMs to generate coherent outputs exceeding 20,000 words. Leveraging AgentWrite, we construct LongWriter-6k, a dataset containing 6,000 SFT data with output lengths ranging from 2k to 32k words. By incorporating this dataset into model training, we successfully scale the output length of existing models to over 10,000 words while maintaining output quality. We also develop LongBench-Write, a comprehensive benchmark for evaluating ultra-long generation capabilities. Our 9B parameter model, further improved through DPO, achieves state-of-the-art performance on this benchmark, surpassing even much larger proprietary models. In general, our work demonstrates that existing long context LLM already possesses the potential for a larger output window--all you need is data with extended output during model alignment to unlock this capability.

AK

50,995 görüntüleme • 2 yıl önce

We’re excited to introduce Text-to-LoRA: a Hypernetwork that generates task-specific LLM adapters (LoRAs) based on a text description of the task. Catch our presentation at #ICML2025! Paper: Code: Biological systems are capable of rapid adaptation, given limited sensory cues. For example, our human visual system can quickly adapt and tune its light sensitivity to our surroundings. While modern LLMs exhibit a wide variety of capabilities and knowledge, they remain rigid when adding task-specific capabilities. Traditionally, customizing these models requires gathering large datasets and performing often expensive, time-consuming fine-tuning for specific applications. To bypass these limitations, Text-to-LoRA (T2L) meta-learns a “hypernetwork” that takes in a text description of a desired task, as a prompt, and generates a task-specific LoRA that performs well on the task. In our experiments, we show that T2L can encode hundreds of existing LoRA adapters. While the compression is lossy, T2L maintains the performance of task-specifically tuned LoRA adapters. We also show that T2L can even generalize to unseen tasks given a natural language description of the tasks. Importantly, Text-to-LoRA is parameter-efficient. It generates LoRAs in a single, inexpensive step, based solely on a simple text description of the task. This approach is a step towards dramatically lowering the technical and computational barriers, allowing non-technical users to specialize foundation models using plain language, rather than needing deep technical expertise or large compute resources.

Sakana AI

403,354 görüntüleme • 1 yıl önce