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In unsupervised learning, an unbiased uniform sampling strategy is typically used, in order that the learned features faithfully encode the statistical structure of the training data. In this work, we explore whether active example…

The occurrence of sleep passed through the evolutionary sieve and is widespread in animal species. Sleep is known to be beneficial to cognitive and mnemonic tasks, while chronic sleep deprivation is detrimental. Despite the importance of…

Active learning aims to select a small subset of data for annotation such that a classifier learned on the data is highly accurate. This is usually done using heuristic selection methods, however the effectiveness of such methods is limited…

Large Language Models (LLMs) have revolutionized natural language processing, yet aligning these models with human values and preferences using RLHF remains a significant challenge. This challenge is characterized by various instabilities,…

The objective of the present work is to measure postural kinematics and power spectral variation from HD-EEG to assess changes in cortical activity during adaptation and habituation to postural perturbation. To evoke proprioceptive postural…

Piano performance is a multimodal activity that intrinsically combines physical actions with the acoustic rendition. Despite growing research interest in analyzing the multimodal nature of piano performance, the laborious process of…

Solo piano music, despite being a single-instrument medium, possesses significant expressive capabilities, conveying rich semantic information across genres, moods, and styles. However, current general-purpose music representation models,…

We propose the multistep port-Hamiltonian Gaussian process (MS-PHS GP) to learn physically consistent continuous-time dynamics and a posterior over the Hamiltonian from noisy, irregularly-sampled trajectories. By placing a GP prior on the…

Using the policy gradient algorithm, we train a single-hidden-layer neural network to balance a physically accurate simulation of a single inverted pendulum. The trained weights and biases can then be transferred to a physical agent, where…

People with Parkinson's Disease experience gait impairments that significantly impact their quality of life. Visual, auditory, and tactile cues can alleviate gait impairments, but they can become less effective due to the progressive nature…

Proximal Policy Optimization (PPO) is commonly used in Reinforcement Learning from Human Feedback to align large language models (LLMs) with downstream tasks. This paper investigates the feasibility of using PPO for direct reinforcement…

When moving a piano or dancing tango with a partner, how should I control my arm muscles to best feel their movements and follow or guide them smoothly? Here we observe how physically connected pairs tracking a moving target with the arm…

Tactile sensors provide information that can be used to learn and execute manipulation tasks. Different tasks, however, might require different levels of sensory information; which in turn likely affect learning rates and performance. This…

Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…

Visual program synthesis is a promising approach to exploit the reasoning abilities of large language models for compositional computer vision tasks. Previous work has used few-shot prompting with frozen LLMs to synthesize visual programs.…

We present a supervised neural network model for polyphonic piano music transcription. The architecture of the proposed model is analogous to speech recognition systems and comprises an acoustic model and a music language model. The…

Hippocampal reverse replay is thought to contribute to learning, and particularly reinforcement learning, in animals. We present a computational model of learning in the hippocampus that builds on a previous model of the…

Environmental sounds like footsteps, keyboard typing, or dog barking carry rich information and emotional context, making them valuable for designing haptics in user applications. Existing audio-to-vibration methods, however, rely on…

Reinforcement learning is a powerful approach to learn behaviour through interactions with an environment. However, behaviours are usually learned in a purely reactive fashion, where an appropriate action is selected based on an…

Slow oscillations are electrical potential oscillations with a spectral peak frequency of $\sim$0.8 Hz, and hallmark the electroencephalogram during slow-wave sleep. Recent studies have indicated a causal contribution of slow oscillations…