Reinforcement learning (RL) has demonstrated remarkable capability in acquiring robot skills, but learning each new skill still requires substantial data collection for training. The pretrain-and-finetune paradigm offers a promising approach for efficiently adapting to new robot entities and tasks. Inspired by the idea that acquired knowledge can accelerate learning new tasks with the same robot and help a new robot master a trained task, we propose a latent training framework where a transferable latent-to-latent locomotion policy is pretrained alongside diverse task-specific observation encoders and action decoders. This policy in latent space processes encoded latent observations to generate latent actions to be decoded, with the potential to learn general abstract motion skills. To retain essential information for decision-making and control, we introduce a diffusion recovery module that minimizes information reconstruction loss during pretrain stage. During fine-tune stage, the pretrained latent-to-latent locomotion policy remains fixed, while only the lightweight task-specific encoder and decoder are optimized for efficient adaptation. Our method allows a robot to leverage its own prior experience across different tasks as well as the experience of other morphologically diverse robots to accelerate adaptation. We validate our approach through extensive simulations and real-world experiments, demonstrating that the pretrained latent-to-latent locomotion policy effectively generalizes to new robot entities and tasks with improved efficiency.

We introduce RMP-YOLO, a unified framework designed to provide robust motion predictions even with incomplete input data. Our key insight stems from the observation that complete and reliable historical trajectory data plays a pivotal role in ensuring accurate motion prediction. Therefore, we propose a new paradigm that prioritizes the reconstruction of intact historical trajectories before feeding them into the prediction modules. Our approach introduces a novel scene tokenization module to enhance the extraction and fusion of spatial and temporal features. Following this, our proposed recovery module reconstructs agents' incomplete historical trajectories by leveraging local map topology and interactions with nearby agents. The reconstructed, clean historical data is then integrated into the downstream prediction modules. Our framework is able to effectively handle missing data of varying lengths and remains robust against observation noise, while maintaining high prediction accuracy. Furthermore, our recovery module is compatible with existing prediction models, ensuring seamless integration. Extensive experiments validate the effectiveness of our approach, and deployment in real-world autonomous vehicles confirms its practical utility. In the 2024 Waymo Motion Prediction Competition, our method, RMP-YOLO, achieves state-of-the-art performance, securing third place.

Parameter-efficient tuning (PET) has been widely explored in recent years because it tunes much fewer parameters (PET modules) than full-parameter fine-tuning (FT) while still stimulating sufficient knowledge from large language models (LLMs) for downstream tasks. Moreover, when PET is employed to serve multiple tasks, different task-specific PET modules can be built on a frozen LLM, avoiding redundant LLM deployments. Although PET significantly reduces the cost of tuning and deploying LLMs, its inference still suffers from the computational bottleneck of LLMs. To address the above issue, we propose an effective PET framework based on compressed LLMs, named "CPET". In CPET, we evaluate the impact of mainstream LLM compression techniques on PET performance and then introduce knowledge inheritance and recovery strategies to restore the knowledge loss caused by these compression techniques. Our experimental results demonstrate that, owing to the restoring strategies of CPET, collaborating task-specific PET modules with a compressed LLM can achieve comparable performance to collaborating PET modules with the original version of the compressed LLM and outperform directly applying vanilla PET methods to the compressed LLM.