Related papers: Virtual reference feedback tuning with robustness …

Neural network pruning has traditionally focused on weight-based criteria to achieve model compression, frequently overlooking the crucial balance between adversarial robustness and accuracy. Existing approaches often fail to preserve…

This paper focuses on robust stability and $H_\infty$ performance analyses of hybrid continuous/discrete time linear multi-rate control systems in the presence of parametric uncertainties. These affect the continuous-time plant in a…

One approach to robust control for linear plants with structured uncertainty as well as for linear parameter-varying (LPV) plants (where the controller has on-line access to the varying plant parameters) is through…

We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints…

Vision Transformer (ViT) models have recently emerged as powerful and versatile models for various visual tasks. Recently, a work called PMF has achieved promising results in few-shot image classification by utilizing pre-trained vision…

Feedback optimization optimizes the steady state of a dynamical system by implementing optimization iterations in closed loop with the plant. It relies on online measurements and limited model information, namely, the input-output…

Visual object tracking is essential to intelligent robots. Most existing approaches have ignored the online latency that can cause severe performance degradation during real-world processing. Especially for unmanned aerial vehicles (UAVs),…

Vision based control of Unmanned Aerial Vehicles (UAVs) has been adopted by a wide range of applications due to the availability of low-cost on-board sensors and computers. Tuning such systems to work properly requires extensive domain…

Reinforcement learning from human feedback (RLHF) has emerged as a key technique for aligning the output of large language models (LLMs) with human preferences. To learn the reward function, most existing RLHF algorithms use the…

Reinforcement Learning from Human Feedback (RLHF) is crucial for aligning Large Language Models (LLMs) with human values. However, RLHF has been continuously challenged by its high complexity in implementation and computation consumption,…

Reinforcement Fine-Tuning (RFT) in Large Reasoning Models like OpenAI o1 learns from feedback on its answers, which is especially useful in applications when fine-tuning data is scarce. Recent open-source work like DeepSeek-R1 demonstrates…

Achieving both realism and controllability in closed-loop traffic simulation remains a key challenge in autonomous driving. Dataset-based methods reproduce realistic trajectories but suffer from covariate shift in closed-loop deployment,…

Supervised fine-tuning (SFT) plays a crucial role in adapting large language models (LLMs) to specific domains or tasks. However, as demonstrated by empirical experiments, the collected data inevitably contains noise in practical…

We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design complexity. Using only three minutes of probing data, a…

Vision-Language-Action (VLA) models have shown substantial potential in real-world robotic manipulation. However, fine-tuning these models through supervised learning struggles to achieve robust performance due to limited, inconsistent…

The change in data distribution over time, also known as concept drift, poses a significant challenge to the reliability of online learning methods. Existing methods typically require model retraining or drift detection, both of which…

Test-time finetuning (TTFT) is a rapidly evolving paradigm that adapts a language model to each prompt by retrieving related sequences, updating the model on them, and then evaluating the prompt. However, TTFT is only practical if it is…

This study proposes a simple controller design approach to achieve a class of robustness, the so-called iso-damping property. The proposed approach can be executed using only one-shot input/output data. An accurate mathematical model of a…

Certifying neural network robustness against adversarial examples is challenging, as formal guarantees often require solving non-convex problems. Hence, incomplete verifiers are widely used because they scale efficiently and substantially…

Reinforcement Learning from Human Feedback (RLHF) often suffers from noisy or imperfect reward supervision in real-world settings, which undermines policy stability and generalization. Such noise may cause models to lose attention on key…