Robotics paper index
Trust the Direction, Search the Step: Zero-and-First-Order Methods for LLM Fine-Tuning
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A robotics research paper on Trust the Direction, Search the Step: Zero-and-First-Order Methods for LLM Fine-Tuning.
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Chinese explanation / 中文解读
中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
Step-size selection remains a central challenge in large-scale neural network optimization; conservative steps slow convergence, while aggressive steps can destabilize it. We combine \textbf{Z}ero-and-\textbf{F}irst-\textbf{O}rder optimization~(ZFO) and propose a lightweight framework that decouples direction selection from step-size. ZFO uses a trusted first-order optimizer to determine the direction and performs zeroth-order evaluations only along this one-dimensional subspace to choose how far to move. Using the current {gradient information} and two additional objective function evaluations, ZFO instances construct a local model of the objective function along the proposed direction and select a curvature-aware step within a bounded search interval. This yields an adaptive step-selection mechanism that costs less than a full line search. We provide theoretical guarantees to show that shared-sample evaluations produce reliable finite-difference curvature estimates, that the induced local model selects a near-optimal step along the search interval, and that ZFO converges to a neighborhood of a stationary point. Across the evaluated settings, language models and datasets, ZFO frequently improves optimization and final performance relative to fixed-step first-order baselines, with the magnitude and preferred local model depending on the objective. Our code is publicly available at: https://github.com/nizswan/Zeroth-First-Order-Framework.
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