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Phillip Miao

Publications and source records attributed to Phillip Miao.

2 recordsLinked to original sources

Talking to Yourself: Defying Forgetting in Large Language Models

Catastrophic forgetting remains a major challenge when fine-tuning large language models (LLMs) on narrow, task-specific data, often degrading their general knowledge and reasoning abilities. We propose SA-SFT, a lightweight self-augmentation routine in which an LLM generates self-dialogues prior to fine-tuning, and the resulting self-authored data are mixed with task data without modifying optimization or training schedules. Despite requiring no external data or additional tuning, SA-SFT consistently mitigates catastrophic forgetting while improving in-domain performance. Across 50 evaluation scenarios, it maintains performance comparable to the original model and achieves the best results in 40 cases, outperforming common baselines such as layer freezing and external data mixing. Guided by these empirical findings, we further present a theoretical analysis suggesting that forgetting can partly stem from style-induced parameter drift, and that self-alignment through self-generated data provides an effective means to counteract this effect. Overall, our results indicate that self-augmentation offers a simple and effective mechanism for robust LLM adaptation without incurring catastrophic forgetting.

cs.CL

HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control

We introduce HoMeR, an imitation learning framework for mobile manipulation that combines whole-body control with hybrid action modes that handle both long-range and fine-grained motion, enabling effective performance on realistic in-the-wild tasks. At its core is a fast, kinematics-based whole-body controller that maps desired end-effector poses to coordinated motion across the mobile base and arm. Within this reduced end-effector action space, HoMeR learns to switch between absolute pose predictions for long-range movement and relative pose predictions for fine-grained manipulation, offloading low-level coordination to the controller and focusing learning on task-level decisions. We deploy HoMeR on a holonomic mobile manipulator with a 7-DoF arm in a real home. We compare HoMeR to baselines without hybrid actions or whole-body control across 3 simulated and 3 real household tasks such as opening cabinets, sweeping trash, and rearranging pillows. Across tasks, HoMeR achieves an overall success rate of 79.17% using just 20 demonstrations per task, outperforming the next best baseline by 29.17 on average. HoMeR is also compatible with vision-language models and can leverage their internet-scale priors to better generalize to novel object appearances, layouts, and cluttered scenes. In summary, HoMeR moves beyond tabletop settings and demonstrates a scalable path toward sample-efficient, generalizable manipulation in everyday indoor spaces. Code, videos, and supplementary material are available at: http://homer-manip.github.io

cs.RO