Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

4 October 2024

Marco Hutter

Papers citing "Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation"

32 / 32 papers shown

Title
Dynamic Sampling that Adapts: Iterative DPO for Self-Aware Mathematical Reasoning Jun Rao Xuebo Liu Hexuan Deng Zepeng Lin Zixiong Yu Jiansheng Wei Xiaojun Meng Min Zhang LRM 200 0 0 22 May 2025
MDIT-Bench: Evaluating the Dual-Implicit Toxicity in Large Multimodal Models Bohan Jin Shuhan Qi Kehai Chen Xinyi Guo Xuan Wang 49 0 0 22 May 2025
DRPruning: Efficient Large Language Model Pruning through Distributionally Robust Optimization Hexuan Deng Wenxiang Jiao Xuebo Liu Min Zhang Zhaopeng Tu Zhaopeng Tu VLM 253 0 0 21 Nov 2024
DKDM: Data-Free Knowledge Distillation for Diffusion Models with Any Architecture Qianlong Xiang Miao Zhang Yuzhang Shang Jianlong Wu Yan Yan Liqiang Nie DiffM 118 10 0 05 Sep 2024
Aya Model: An Instruction Finetuned Open-Access Multilingual Language Model Ahmet Üstün Viraat Aryabumi Zheng-Xin Yong Wei-Yin Ko Daniel D'souza ... Shayne Longpre Niklas Muennighoff Marzieh Fadaee Julia Kreutzer Sara Hooker ALM ELM SyDa LRM 93 229 0 12 Feb 2024
Long Is More for Alignment: A Simple but Tough-to-Beat Baseline for Instruction Fine-Tuning Hao Zhao Maksym Andriushchenko Francesco Croce Nicolas Flammarion ALM 151 56 0 07 Feb 2024
Specialist or Generalist? Instruction Tuning for Specific NLP Tasks Chufan Shi Yixuan Su Cheng Yang Yujiu Yang Deng Cai 118 18 0 23 Oct 2023
CITING: Large Language Models Create Curriculum for Instruction Tuning Tao Feng Zifeng Wang Jimeng Sun ALM 82 15 0 04 Oct 2023
Judging LLM-as-a-Judge with MT-Bench and Chatbot Arena Lianmin Zheng Wei-Lin Chiang Ying Sheng Siyuan Zhuang Zhanghao Wu ... Dacheng Li Eric Xing Haotong Zhang Joseph E. Gonzalez Ion Stoica ALM OSLM ELM 458 4,444 0 09 Jun 2023
How Far Can Camels Go? Exploring the State of Instruction Tuning on Open Resources Yizhong Wang Hamish Ivison Pradeep Dasigi Jack Hessel Tushar Khot ... David Wadden Kelsey MacMillan Noah A. Smith Iz Beltagy Hannaneh Hajishirzi ALM ELM 113 393 0 07 Jun 2023
Gorilla: Large Language Model Connected with Massive APIs Shishir G. Patil Tianjun Zhang Xin Wang Joseph E. Gonzalez ELM CLL ALM SyDa 93 568 0 24 May 2023
AlpacaFarm: A Simulation Framework for Methods that Learn from Human Feedback Yann Dubois Xuechen Li Rohan Taori Tianyi Zhang Ishaan Gulrajani Jimmy Ba Carlos Guestrin Percy Liang Tatsunori B. Hashimoto ALM 149 608 0 22 May 2023
TaskWeb: Selecting Better Source Tasks for Multi-task NLP Joongwon Kim Akari Asai Gabriel Ilharco Hannaneh Hajishirzi 87 11 0 22 May 2023
LIMA: Less Is More for Alignment Chunting Zhou Pengfei Liu Puxin Xu Srini Iyer Jiao Sun ... Susan Zhang Gargi Ghosh M. Lewis Luke Zettlemoyer Omer Levy ALM 115 853 0 18 May 2023
LLaMA: Open and Efficient Foundation Language Models Hugo Touvron Thibaut Lavril Gautier Izacard Xavier Martinet Marie-Anne Lachaux ... Faisal Azhar Aurelien Rodriguez Armand Joulin Edouard Grave Guillaume Lample ALM PILM 1.5K 13,490 0 27 Feb 2023
Data Selection for Language Models via Importance Resampling Sang Michael Xie Shibani Santurkar Tengyu Ma Percy Liang 125 196 0 06 Feb 2023
The Flan Collection: Designing Data and Methods for Effective Instruction Tuning Shayne Longpre Le Hou Tu Vu Albert Webson Hyung Won Chung ... Denny Zhou Quoc V. Le Barret Zoph Jason W. Wei Adam Roberts ALM 116 677 0 31 Jan 2023
OPT-IML: Scaling Language Model Instruction Meta Learning through the Lens of Generalization Srinivasan Iyer Xi Lin Ramakanth Pasunuru Todor Mihaylov Daniel Simig ... Jeff Wang Christopher Dewan Asli Celikyilmaz Luke Zettlemoyer Veselin Stoyanov ALM 148 267 0 22 Dec 2022
One Embedder, Any Task: Instruction-Finetuned Text Embeddings Hongjin Su Weijia Shi Jungo Kasai Yizhong Wang Yushi Hu Mari Ostendorf Wen-tau Yih Noah A. Smith Luke Zettlemoyer Tao Yu 104 302 0 19 Dec 2022
Scaling Instruction-Finetuned Language Models Hyung Won Chung Le Hou Shayne Longpre Barret Zoph Yi Tay ... Jacob Devlin Adam Roberts Denny Zhou Quoc V. Le Jason W. Wei ReLM LRM 234 3,165 0 20 Oct 2022
Challenging BIG-Bench Tasks and Whether Chain-of-Thought Can Solve Them Mirac Suzgun Nathan Scales Nathanael Scharli Sebastian Gehrmann Yi Tay ... Aakanksha Chowdhery Quoc V. Le Ed H. Chi Denny Zhou Jason W. Wei ALM ELM LRM ReLM 274 1,142 0 17 Oct 2022
Fine-tuned Language Models are Continual Learners Thomas Scialom Tuhin Chakrabarty Smaranda Muresan CLL LRM 197 123 0 24 May 2022
Super-NaturalInstructions: Generalization via Declarative Instructions on 1600+ NLP Tasks Yizhong Wang Swaroop Mishra Pegah Alipoormolabashi Yeganeh Kordi Amirreza Mirzaei ... Chitta Baral Yejin Choi Noah A. Smith Hannaneh Hajishirzi Daniel Khashabi ELM 123 861 0 16 Apr 2022
Contrastive Vision-Language Pre-training with Limited Resources Quan Cui Boyan Zhou Yu Guo Weidong Yin Hao Wu Osamu Yoshie Yubo Chen VLM CLIP 49 34 0 17 Dec 2021
Training Verifiers to Solve Math Word Problems K. Cobbe V. Kosaraju Mohammad Bavarian Mark Chen Heewoo Jun ... Jerry Tworek Jacob Hilton Reiichiro Nakano Christopher Hesse John Schulman ReLM OffRL LRM 367 4,598 0 27 Oct 2021
Finetuned Language Models Are Zero-Shot Learners Jason W. Wei Maarten Bosma Vincent Zhao Kelvin Guu Adams Wei Yu Brian Lester Nan Du Andrew M. Dai Quoc V. Le ALM UQCV 254 3,789 0 03 Sep 2021
Evaluating Large Language Models Trained on Code Mark Chen Jerry Tworek Heewoo Jun Qiming Yuan Henrique Pondé ... Bob McGrew Dario Amodei Sam McCandlish Ilya Sutskever Wojciech Zaremba ELM ALM 238 5,675 0 07 Jul 2021
What Makes Good In-Context Examples for GPT- $3$ ? Jiachang Liu Dinghan Shen Yizhe Zhang Bill Dolan Lawrence Carin Weizhu Chen AAML RALM 390 1,392 0 17 Jan 2021
Measuring Massive Multitask Language Understanding Dan Hendrycks Collin Burns Steven Basart Andy Zou Mantas Mazeika Basel Alomair Jacob Steinhardt ELM RALM 187 4,577 0 07 Sep 2020
TyDi QA: A Benchmark for Information-Seeking Question Answering in Typologically Diverse Languages J. Clark Eunsol Choi Michael Collins Dan Garrette Tom Kwiatkowski Vitaly Nikolaev J. Palomaki 198 613 0 10 Mar 2020
ZeRO: Memory Optimizations Toward Training Trillion Parameter Models Samyam Rajbhandari Jeff Rasley Olatunji Ruwase Yuxiong He ALM AI4CE 86 921 0 04 Oct 2019
Competence-based Curriculum Learning for Neural Machine Translation Emmanouil Antonios Platanios Otilia Stretcu Graham Neubig Barnabás Póczós Tom Michael Mitchell 91 344 0 23 Mar 2019