2 papers
cs.RO2025
What Matters in Learning from Large-Scale Datasets for Robot Manipulation
Vaibhav Saxena, Matthew Bronars, Nadun Ranawaka Arachchige +5
Imitation learning from large multi-task demonstration datasets has emerged as a promising path for building generally-capable robots. As a result, 1000s of hours have been spent o…
cs.CL2024
RNR: Teaching Large Language Models to Follow Roles and Rules
Kuan Wang, Alexander Bukharin, Haoming Jiang +9
Instruction fine-tuning (IFT) elicits instruction following capabilities and steers the behavior of large language models (LLMs) via supervised learning. However, existing models t…