Perceiving the pre-eminence of image reconstruction in representation learning, we propose SMG (Separated Models for Generalization), a novel approach that exploits image reconstruction for generalization.

Perceiving the pre-eminence of image reconstruction in representation learning, we propose SMG (Separated Models for Generalization), a novel approach that exploits image reconstruction for generalization.

Steering has emerged as a promising approach in controlling large language models (LLMs) without modifying model parameters. However, most existing steering methods rely on large-scale datasets to learn clear behavioral information, which limits their applicability in many real-world scenarios. The steering vectors extracted from small dataset often contain task-irrelevant noising features, which degrades their effectiveness. To refine the steering vectors learned from limited data, we introduce Refinement of Steering V ector via Sparse Autoencoder (SAE-RSV) that leverages SAEs to semantically denoise and augment the steering vectors. In our framework, we first remove task-irrelevant features according to their semantics provided by SAEs, and then enrich task-relevant features missing from the small dataset through their semantic similarity to the identified relevant features. Extensive experiments demonstrate that the proposed SAE-RSV substantially outperforms all the baseline methods including supervised fine-tuning. Our findings show that effective steering vector can be constructed from limited training data by refining the original steering vector through SAEs. Large language models (LLMs) have demonstrated remarkable capabilities across a wide range of natural language processing tasks.

Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on robot-assisted dressing focuses on how to put on loose-fitting clothing, with little attention paid to tight garments. For the former, since the armscye is larger, a single robotic arm can usually complete the dressing task successfully. However, for the latter, dressing with a single robotic arm often fails due to the narrower armscye and the property of diminishing rigidity in the armscye, which eventually causes the armscye to get stuck. This paper proposes a bimanual dressing strategy suitable for dressing tight-fitting clothing. To facilitate the encoding of dressing trajectories that adapt to different human arm postures, a spherical coordinate system for dressing is established. We uses the azimuthal angle of the spherical coordinate system as a task-relevant feature for bimanual manipulation. Based on this new coordinate, we employ Gaussian Mixture Model (GMM) and Gaussian Mixture Regression (GMR) for imitation learning of bimanual dressing trajectories, generating dressing strategies that adapt to different human arm postures. The effectiveness of the proposed method is validated through various experiments.