5 papers
Reinforcement Learning for Flow-Matching Policies
Samuel Pfrommer, Yixiao Huang, Somayeh Sojoudi
Flow-matching policies have emerged as a powerful paradigm for generalist robotics. These models are trained to imitate an action chunk, conditioned on sensor observations and text…
Spooky Action at a Distance: Normalization Layers Enable Side-Channel Spatial Communication
Samuel Pfrommer, George Ma, Yixiao Huang +1
This work shows that normalization layers can facilitate a surprising degree of communication across the spatial dimensions of an input tensor. We study a toy localization task wit…
Ranking Manipulation for Conversational Search Engines
Samuel Pfrommer, Yatong Bai, Tanmay Gautam +1
Major search engine providers are rapidly incorporating Large Language Model (LLM)-generated content in response to user queries. These conversational search engines operate by loa…
Approximately Gaussian Replicator Flows: Nonconvex Optimization as a Nash-Convergent Evolutionary Game
Brendon G. Anderson, Samuel Pfrommer, Somayeh Sojoudi
This work leverages tools from evolutionary game theory to solve unconstrained nonconvex optimization problems. Specifically, we lift such a problem to an optimization over probabi…
Transport of Algebraic Structure to Latent Embeddings
Samuel Pfrommer, Brendon G. Anderson, Somayeh Sojoudi
Machine learning often aims to produce latent embeddings of inputs which lie in a larger, abstract mathematical space. For example, in the field of 3D modeling, subsets of Euclidea…