Related papers: Iterative Learning Control -- Gone Wild

Recently, the mysterious In-Context Learning (ICL) ability exhibited by Transformer architectures, especially in large language models (LLMs), has sparked significant research interest. However, the resilience of Transformers' in-context…

Large autoregressive models like Transformers can solve tasks through in-context learning (ICL) without learning new weights, suggesting avenues for efficiently solving new tasks. For many tasks, e.g., linear regression, the data…

Iterative self-training (self-distillation) repeatedly refits a model on pseudo-labels generated by its own predictions. We study this procedure in overparameterized linear regression: an initial estimator is trained on noisy labels, and…

In-context Learning (ICL) is an emerging few-shot learning paradigm on Language Models (LMs) with inner mechanisms un-explored. There are already existing works describing the inner processing of ICL, while they struggle to capture all the…

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control…

This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in high-speed operational domains. We start from existing LMPC…

Acquiring new knowledge without forgetting what has been learned in a sequence of tasks is the central focus of continual learning (CL). While tasks arrive sequentially, the training data are often prepared and annotated independently,…

A robust Learning Model Predictive Controller (LMPC) for uncertain systems performing iterative tasks is presented. At each iteration of the control task the closed-loop state, input and cost are stored and used in the controller design.…

In-context learning (ICL) enables large language models (LLMs) to acquire new behaviors from the input sequence alone without any parameter updates. Recent studies have shown that ICL can surpass the original meaning learned in pretraining…

Transformer-based models have demonstrated remarkable reasoning abilities, but the mechanisms underlying relational reasoning remain poorly understood. We investigate how transformers perform \textit{transitive inference}, a classic…

Attention-based neural networks such as transformers have demonstrated a remarkable ability to exhibit in-context learning (ICL): Given a short prompt sequence of tokens from an unseen task, they can formulate relevant per-token and…

Fast execution of contact-rich manipulation is critical for practical deployment, yet providing fast demonstrations for imitation learning (IL) remains challenging: humans cannot demonstrate at high speed, and naively accelerating…

In this paper, we study a tracking control problem for linear time-invariant systems, with model parametric uncertainties, under input and states constraints. We apply the idea of modular design introduced in Benosman et al. 2014, to solve…

Contrastive Learning (CL) has been proved to be a powerful self-supervised approach for a wide range of domains, including computer vision and graph representation learning. However, the incremental learning issue of CL has rarely been…

Reconstructing accurate causal models of dynamic systems from time-series of sensor data is a key problem in many real-world scenarios. In this paper, we present an overview based on our experience about practical challenges that the causal…

Recent work has questioned whether large language models (LLMs) can perform genuine in-context learning (ICL) for scientific experimental design, with prior studies suggesting that LLM-based agents exhibit no sensitivity to experimental…

Large-scale Transformer language models (LMs) trained solely on next-token prediction with web-scale data can solve a wide range of tasks after seeing just a few examples. The mechanism behind this capability, known as in-context learning…

In-context learning (ICL) refers to the ability of a model to learn new tasks from examples in its input without any parameter updates. In contrast to previous theories of ICL relying on toy models and data settings, recently it has been…

Large language models (LLMs) can adapt to new tasks via in-context learning (ICL) without parameter updates, making them powerful learning engines for fast adaptation. While extensive research has examined ICL as a few-shot learner, whether…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…