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In-context learning (ICL) is a new paradigm for natural language processing that utilizes Generative Pre-trained Transformer (GPT)-like models. This approach uses prompts that include in-context demonstrations to generate the corresponding…
Controllability has become a crucial aspect of trustworthy machine learning, enabling learners to meet predefined targets and adapt dynamically at test time without requiring retraining as the targets shift. We provide a formal definition…
In-Context Learning (ICL) has emerged as a pivotal capability of auto-regressive large language models, yet it is hindered by a notable sensitivity to the ordering of context examples regardless of their mutual independence. To address this…
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…
For a sequence of classification tasks that arrive over time, it is common that tasks are evolving in the sense that consecutive tasks often have a higher similarity. The incremental learning of a growing sequence of tasks holds promise to…
Neural network controllers increasingly demand millions of parameters, and language model approaches push into the billions. For embedded aerospace systems with strict power and latency constraints, this scaling is prohibitive. We present…
Continuous reinforcement learning such as DDPG and A3C are widely used in robot control and autonomous driving. However, both methods have theoretical weaknesses. While DDPG cannot control noises in the control process, A3C does not satisfy…
In-context learning (ICL), teaching a large language model (LLM) to perform a task with few-shot demonstrations rather than adjusting the model parameters, has emerged as a strong paradigm for using LLMs. While early studies primarily used…
In-context learning (ICL) refers to the process of adding a small number of localized examples from a training set of labelled data to an LLM's prompt with an objective to effectively control the generative process seeking to improve the…
In-context learning (ICL) enables large language models (LLMs) to perform new tasks by prompting them with a sequence of training examples. However, it is known that ICL is very sensitive to the choice of training examples: randomly…
Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design…
In-context learning (ICL) has emerged as an effective approach to enhance the performance of large language models (LLMs). However, its effectiveness varies significantly across models and tasks, posing challenges for practitioners to…
In recent years, Reinforcement Learning (RL) has been applied to real-world problems with increasing success. Such applications often require to put constraints on the agent's behavior. Existing algorithms for constrained RL (CRL) rely on…
Achieving precise target jumping with legged robots poses a significant challenge due to the long flight phase and the uncertainties inherent in contact dynamics and hardware. Forcefully attempting these agile motions on hardware could…
The goal of continual learning (CL) is to train a model that can solve multiple tasks presented sequentially. Recent CL approaches have achieved strong performance by leveraging large pre-trained models that generalize well to downstream…
Optimizing objective functions subject to constraints is fundamental in many real-world applications. However, these constraints are often not readily defined and must be inferred from expert agent behaviors, a problem known as Inverse…
We propose a model predictive control (MPC) scheme with sampled-data input which ensures output-reference tracking within prescribed error bounds for relative-degree-one systems. Hereby, we explicitly deduce bounds on the required maximal…
Constrained Reinforcement Learning (CRL) is a subset of machine learning that introduces constraints into the traditional reinforcement learning (RL) framework. Unlike conventional RL which aims solely to maximize cumulative rewards, CRL…
Transformers have demonstrated remarkable in-context learning (ICL) capabilities, adapting to new tasks by simply conditioning on demonstrations without parameter updates. Compelling empirical and theoretical evidence suggests that ICL, as…
The emergence of in-context learning (ICL) enables large pre-trained language models (PLMs) to make predictions for unseen inputs without updating parameters. Despite its potential, ICL's effectiveness heavily relies on the quality,…