4 papers
RoboSSM: Scalable In-context Imitation Learning via State-Space Models
Youngju Yoo, Jiaheng Hu, Yifeng Zhu +4
In-context imitation learning (ICIL) enables robots to learn tasks from prompts consisting of just a handful of demonstrations. By eliminating the need for parameter updates at dep…
Lion Secretly Solves Constrained Optimization: As Lyapunov Predicts
Lizhang Chen, Bo Liu, Kaizhao Liang +1
Lion (Evolved Sign Momentum), a new optimizer discovered through program search, has shown promising results in training large AI models. It performs comparably or favorably to Ada…
Longhorn: State Space Models are Amortized Online Learners
Bo Liu, Rui Wang, Lemeng Wu +3
Modern large language models are built on sequence modeling via next-token prediction. While the Transformer remains the dominant architecture for sequence modeling, its quadratic…
Fine-Grained Gradient Restriction: A Simple Approach for Mitigating Catastrophic Forgetting
Bo Liu, Mao Ye, Peter Stone +1
A fundamental challenge in continual learning is to balance the trade-off between learning new tasks and remembering the previously acquired knowledge. Gradient Episodic Memory (GE…