Related papers: Embodiment dictates learnability in neural control…

Scarcity of data and incremental learning of new tasks pose two major bottlenecks for many modern computer vision algorithms. The phenomenon of catastrophic forgetting, i.e., the model's inability to classify previously learned data after…

Neural Machine Translation (NMT) models can be specialized by domain adaptation, often involving fine-tuning on a dataset of interest. This process risks catastrophic forgetting: rapid loss of generic translation quality. Forgetting has…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

Human beings are able to master a variety of knowledge and skills with ongoing learning. By contrast, dramatic performance degradation is observed when new tasks are added to an existing neural network model. This phenomenon, termed as…

In order for artificial neural networks to begin accurately mimicking biological ones, they must be able to adapt to new exigencies without forgetting what they have learned from previous training. Lifelong learning approaches to artificial…

Catastrophic forgetting remains a severe hindrance to the broad application of artificial neural networks (ANNs), however, it continues to be a poorly understood phenomenon. Despite the extensive amount of work on catastrophic forgetting,…

Artificial neural networks often struggle with catastrophic forgetting when learning multiple tasks sequentially, as training on new tasks degrades the performance on previously learned tasks. Recent theoretical work has addressed this…

Simultaneous localization and mapping (SLAM) with implicit neural representations has received extensive attention due to the expressive representation power and the innovative paradigm of continual learning. However, deploying such a…

Unlike humans, who are capable of continual learning over their lifetimes, artificial neural networks have long been known to suffer from a phenomenon known as catastrophic forgetting, whereby new learning can lead to abrupt erasure of…

We propose incremental (re)training of a neural network model to cope with a continuous flow of new data in inference during model serving. As such, this is a life-long learning process. We address two challenges of life-long retraining:…

Continual learning is a challenge for models with static architecture, as they fail to adapt to when data distributions evolve across tasks. We introduce a mathematical framework that jointly models architecture and weights in a Sobolev…

Machine learning is shifting towards general-purpose pretrained generative models, trained in a self-supervised manner on large amounts of data, which can then be applied to solve a large number of tasks. However, due to their generic…

Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear…

Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…

Catastrophic forgetting in continual learning is often measured at the performance or last-layer representation level, overlooking the underlying mechanisms. We introduce a mechanistic framework that offers a geometric interpretation of…

Despite advances in deep learning, neural networks can only learn multiple tasks when trained on them jointly. When tasks arrive sequentially, they lose performance on previously learnt tasks. This phenomenon called catastrophic forgetting…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

A central challenge in continual learning is forgetting, the loss of performance on previously learned tasks induced by sequential adaptation to new ones. While forgetting has been extensively studied empirically, rigorous theoretical…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Learning a set of tasks over time, also known as continual learning (CL), is one of the most challenging problems in artificial intelligence due to catastrophic forgetting. Large language models (LLMs) are often impractical to frequent…