Related papers: KOALA: A Kalman Optimization Algorithm with Loss A…
Large-scale dynamic inverse problems are often ill-posed due to model complexity and the high dimensionality of the unknown parameters. Regularization is commonly employed to mitigate ill-posedness by incorporating prior information and…
Value function learning plays a central role in many state-of-the-art reinforcement-learning algorithms. Many popular algorithms like Q-learning do not optimize any objective function, but are fixed-point iterations of some variant of…
In this paper, we consider the problem of predicting observations generated online by an unknown, partially observed linear system, which is driven by stochastic noise. For such systems the optimal predictor in the mean square sense is the…
In this paper, we present the optimization formulation of the Kalman filtering and smoothing problems, and use this perspective to develop a variety of extensions and applications. We first formulate classic Kalman smoothing as a least…
Discrete stochastic optimization considers the problem of minimizing (or maximizing) loss functions defined on discrete sets, where only noisy measurements of the loss functions are available. The discrete stochastic optimization problem is…
Motivated by the maneuvering target tracking with sensors such as radar and sonar, this paper considers the joint and recursive estimation of the dynamic state and the time-varying process noise covariance in nonlinear state space models.…
Stochastic optimization finds a wide range of applications in operations research and management science. However, existing stochastic optimization techniques usually require the information of random samples (e.g., demands in the…
This paper re-visits the spectral method for learning latent variable models defined in terms of observable operators. We give a new perspective on the method, showing that operators can be recovered by minimizing a loss defined on a finite…
Variational Quantum Algorithms (VQAs) employ parameterized quantum circuits optimized using classical methods to minimize a cost function. While VQAs have found broad applications, certain challenges persist. Notably, a significant…
Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inertial and external sensor fusion are…
Robust loss minimization is an important strategy for handling robust learning issue on noisy labels. Current robust loss functions, however, inevitably involve hyperparameter(s) to be tuned, manually or heuristically through cross…
We tackle the general differentiable meta learning problem that is ubiquitous in modern deep learning, including hyperparameter optimization, loss function learning, few-shot learning, invariance learning and more. These problems are often…
Estimating the state of a dynamical system from a series of noise-corrupted observations is fundamental in many areas of science and engineering. The most well-known method, the Kalman smoother (and the related Kalman filter), relies on…
The accurate modeling and control of nonlinear dynamical effects are crucial for numerous robotic systems. The Koopman formalism emerges as a valuable tool for linear control design in nonlinear systems within unknown environments. However,…
It is difficult for humans to efficiently teach robots how to correctly perform a task. One intuitive solution is for the robot to iteratively learn the human's preferences from corrections, where the human improves the robot's current…
Learning is a fundamental property of intelligent systems, observed across biological organisms and engineered systems. While modern intelligent systems typically rely on gradient descent for learning, the need for exact gradients and…
In this paper, we propose the coarse-to-fine optimization for the task of speech enhancement. Cosine similarity loss [1] has proven to be an effective metric to measure similarity of speech signals. However, due to the large variance of the…
Forecast-then-optimize is a widely-used framework for decision-making problems in power systems. Traditionally, statistical losses have been employed to train forecasting models, but recent research demonstrated that improved decision…
In a variety of problems originating in supervised, unsupervised, and reinforcement learning, the loss function is defined by an expectation over a collection of random variables, which might be part of a probabilistic model or the external…
Artificial neural networks (ANNs) are typically highly nonlinear systems which are finely tuned via the optimization of their associated, non-convex loss functions. In many cases, the gradient of any such loss function has superlinear…