Large language models can solve tasks that were not present in the training set.

Pretrained transformers exhibit the remarkable ability of in-context learning (ICL): they can learn tasks from just a few examples provided in the prompt without updating any weights. This raises a foundational question: can ICL solve fundamentally tasks that are very different from those seen during pretraining? To probe this question, we examine ICL's performance on linear regression while varying the diversity of tasks in the pretraining dataset. We empirically demonstrate a for the emergence of ICL. Below this threshold, the pretrained transformer cannot solve unseen regression tasks, instead behaving like a Bayesian estimator with the as the prior. Beyond this threshold, the transformer significantly outperforms this estimator; its behavior aligns with that of ridge regression, corresponding to a Gaussian prior over, including those not seen during pretraining. Thus, when pretrained on data with task diversity greater than the threshold, transformers optimally solve fundamentally new tasks in-context.

We provide new statistical guarantees for transfer learning via representation learning--when transfer is achieved by learning a feature representation shared across different tasks. This enables learning on new tasks using far less data than is required to learn them in isolation. Formally, we consider $t+1$ tasks parameterized by functions of the form $f_j \circ h$ in a general function class $F \circ H$, where each $f_j$ is a task-specific function in $F$ and $h$ is the shared representation in $H$. Letting $C(\cdot)$ denote the complexity measure of the function class, we show that for diverse training tasks (1) the sample complexity needed to learn the shared representation across the first $t$ training tasks scales as $C(H) + t C(F)$, despite no explicit access to a signal from the feature representation and (2) with an accurate estimate of the representation, the sample complexity needed to learn a new task scales only with $C(F)$. Our results depend upon a new general notion of task diversity--applicable to models with general tasks, features, and losses--as well as a novel chain rule for Gaussian complexities.

This enables learning on new tasks using far less data than is required to learn them in isolation.

In recent years, there has been significant interest in designing machine learning algorithms that enable robust and sample-efficient knowledge transfer across tasks to facilitate rapid and accurate estimation and prediction. Traditional machine learning methods have largely followed a single-task or "isolated learning" framework, where each task is learned independently, ignoring knowledge from prior tasks (Upadhyay et al., 2024). However, unlike such isolated approaches, human learning relies on prior experiences to accelerate new learning. Inspired by this, recent prominent "knowledge-transfer" approaches include meta-learning (Finn et al., 2017; Bouchattaoui, 2024), transfer learning (Zhu et al., 2023; Zhuang et al., 2020), multi-task learning (Crawshaw, 2020; Zhang and Yang, 2022), and lifelong learning (Liu, 2017), all of which aim to leverage shared structure across tasks to improve generalization and aim to replicate this human-like knowledge transfer. Meta-learning focuses on learning a learning algorithm that can quickly adapt to new tasks using limited data. Transfer learning reuses knowledge from related source tasks to improve performance on a target task with few labeled examples.

Large Language Models (LLMs) have demonstrated remarkable capabilities across diverse domains, but developing high-performing models for specialized applications often requires substantial human annotation -- a process that is time-consuming, labor-intensive, and expensive. In this paper, we address the label-efficient learning problem for supervised finetuning (SFT) by leveraging task-diversity as a fundamental principle for effective data selection. This is markedly different from existing methods based on the prompt-diversity. Our approach is based on two key observations: 1) task labels for different prompts are often readily available; 2) pre-trained models have significantly varying levels of confidence across tasks. We combine these facts to devise a simple yet effective sampling strategy: we select examples across tasks using an inverse confidence weighting strategy. This produces models comparable to or better than those trained with more complex sampling procedures, while being significantly easier to implement and less computationally intensive. Notably, our experimental results demonstrate that this method can achieve better accuracy than training on the complete dataset (a 4\% increase in MMLU score). Across various annotation budgets and two instruction finetuning datasets, our algorithm consistently performs at or above the level of the best existing methods, while reducing annotation costs by up to 80\%.

Data scaling has driven remarkable success in foundation models for Natural Language Processing (NLP) and Computer Vision (CV), yet the principles of effective data scaling in robotic manipulation remain insufficiently understood. In this work, we investigate the nuanced role of data diversity in robot learning by examining three critical dimensions-task (what to do), embodiment (which robot to use), and expert (who demonstrates)-challenging the conventional intuition of "more diverse is better". Throughout extensive experiments on various robot platforms, we reveal that (1) task diversity proves more critical than per-task demonstration quantity, benefiting transfer from diverse pre-training tasks to novel downstream scenarios; (2) multi-embodiment pre-training data is optional for cross-embodiment transfer-models trained on high-quality single-embodiment data can efficiently transfer to different platforms, showing more desirable scaling property during fine-tuning than multi-embodiment pre-trained models; and (3) expert diversity, arising from individual operational preferences and stochastic variations in human demonstrations, can be confounding to policy learning, with velocity multimodality emerging as a key contributing factor. Based on this insight, we propose a distribution debiasing method to mitigate velocity ambiguity, the yielding GO-1-Pro achieves substantial performance gains of 15%, equivalent to using 2.5 times pre-training data. Collectively, these findings provide new perspectives and offer practical guidance on how to scale robotic manipulation datasets effectively.