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Complex nonlinear models such as deep neural network (DNNs) have become an important tool for image classification, speech recognition, natural language processing, and many other fields of application. These models however lack…
Parameter-Efficient Fine-Tuning (PEFT) is a popular class of techniques that strive to adapt large models in a scalable and resource-efficient manner. Yet, the mechanisms underlying their training performance and generalization remain…
While deep reinforcement learning techniques have recently produced considerable achievements on many decision-making problems, their use in robotics has largely been limited to simulated worlds or restricted motions, since unconstrained…
In e-commerce recommender and search systems, tree-based models, such as LambdaMART, have set a strong baseline for Learning-to-Rank (LTR) tasks. Despite their effectiveness and widespread adoption in industry, the debate continues whether…
This paper proposes a novel Reinforcement Learning (RL) approach for sim-to-real policy transfer of Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL-UAV). The proposed approach is designed for VTOL-UAV landing on offshore docking…
Large Language Models (LLMs) were shown to struggle with long-term planning, which may be caused by the limited way in which they explore the space of possible solutions. We propose an architecture where a Reinforcement Learning (RL) Agent…
We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…
Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to…
Deep Learning (DL) has advanced various fields by extracting complex patterns from large datasets. However, the computational demands of DL models pose environmental and resource challenges. Deep shift neural networks (DSNNs) offer a…
Multi-Task Learning (MTL) has shown its importance at user products for fast training, data efficiency, reduced overfitting etc. MTL achieves it by sharing the network parameters and training a network for multiple tasks simultaneously.…
Existing methods for optimal control struggle to deal with the complexity commonly encountered in real-world systems, including dimensionality, process error, model bias and data heterogeneity. Instead of tackling these system complexities…
Deep learning (DL) has proven to be an effective machine learning and computer vision technique. DL-based image segmentation, object recognition and classification will aid many in-situ Mars rover tasks such as path planning and artifact…
Context: Deep Neural Networks (DNNs) are increasingly deployed in critical applications, where resilience against adversarial inputs is paramount. However, whether coverage-based or confidence-based, existing test prioritization methods…
Reinforcement learning methods typically use Deep Neural Networks to approximate the value functions and policies underlying a Markov Decision Process. Unfortunately, DNN-based RL suffers from a lack of explainability of the resulting…
In previous research, we developed methods to train decision trees (DT) as agents for reinforcement learning tasks, based on deep reinforcement learning (DRL) networks. The samples from which the DTs are built, use the environment's state…
Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…
Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…
Deep Reinforcement Learning (DRL) has been successfully used to solve different challenges, e.g. complex board and computer games, recently. However, solving real-world robotics tasks with DRL seems to be a more difficult challenge. The…
The deep linear network (DLN) is a model for implicit regularization in gradient based optimization of overparametrized learning architectures. Training the DLN corresponds to a Riemannian gradient flow, where the Riemannian metric is…
This work focuses on the design of a deep learning-based autonomous driving system deployed and tested on the real-world MIT Racecar to assess its effectiveness in driving scenarios. The Deep Neural Network (DNN) translates raw image inputs…