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Learning control policies for multi-robot systems (MRS) remains a major challenge due to long-term coordination and the difficulty of obtaining realistic training data. In this work, we address both limitations within an imitation learning…

This paper introduces a novel model-free and a partially model-free algorithm for inverse optimal control (IOC), also known as inverse reinforcement learning (IRL), aimed at estimating the cost function of continuous-time nonlinear…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

State-of-the-art, high capacity deep neural networks not only require large amounts of labelled training data, they are also highly susceptible to label errors in this data, typically resulting in large efforts and costs and therefore…

Independently trained machine learning models tend to learn similar features. Given an ensemble of independently trained models, this results in correlated predictions and common failure modes. Previous attempts focusing on decorrelation of…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Real-world data distributions are often highly skewed. This has spurred a growing body of research on long-tailed recognition, aimed at addressing the imbalance in training classification models. Among the methods studied, multiplicative…

Grammatical Error Correction (GEC) aims to automatically detect and correct grammatical errors. In this aspect, dominant models are trained by one-iteration learning while performing multiple iterations of corrections during inference.…

Identifying a linear system model from data has wide applications in control theory. The existing work on finite sample analysis for linear system identification typically uses data from a single system trajectory under i.i.d random inputs,…

In-Context Learning (ICL) empowers Large Language Models (LLMs) for rapid task adaptation without Fine-Tuning (FT), but its reliance on demonstration selection remains a critical challenge. While many-shot ICL shows promising performance…

This paper presents a new parameter estimation algorithm for the adaptive control of a class of time-varying plants. The main feature of this algorithm is a matrix of time-varying learning rates, which enables parameter estimation error…

Recent work in Offline Reinforcement Learning (RL) has shown that a unified Transformer trained under a masked auto-encoding objective can effectively capture the relationships between different modalities (e.g., states, actions, rewards)…

We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…

Approximating model predictive control (MPC) using imitation learning (IL) allows for fast control without solving expensive optimization problems online. However, methods that use neural networks in a simple L2-regression setup fail to…

When adapting ICL with or without fine-tuning, we are curious about whether the instruction-tuned language model is able to achieve well-calibrated results without suffering from the problem of overconfidence (i.e., miscalibration)…

We propose an adaptive Model Predictive Safety Certification (MPSC) scheme for learning-based control of linear systems with bounded disturbances and uncertain parameters where the true parameters are contained within an a priori known set…

This paper presents an adaptive tracking model predictive control (MPC) scheme to control unknown nonlinear systems based on an adaptively estimated linear model. The model is determined based on linear system identification using a moving…

In-context learning (ICL) i.e. showing LLMs only a few task-specific demonstrations has led to downstream gains with no task-specific fine-tuning required. However, LLMs are sensitive to the choice of prompts, and therefore a crucial…

We show how a posteriori goal oriented error estimation can be used to efficiently solve the subproblems occurring in a Model Predictive Control (MPC) algorithm. In MPC, only an initial part of a computed solution is implemented as a…

A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are assumed to be matched, bounded and structured. In order to…