Related papers: Iterative Learning Control -- Gone Wild
We introduce Transductive Local Complexity (TLC) to extend the classical Local Rademacher Complexity (LRC) to the transductive setting, incorporating substantial and novel components. Although LRC has been used to obtain sharp…
In-context learning (ICL) refers to a remarkable capability of pretrained large language models, which can learn a new task given a few examples during inference. However, theoretical understanding of ICL is largely under-explored,…
We study the problem of inverse reinforcement learning (IRL) with the added twist that the learner is assisted by a helpful teacher. More formally, we tackle the following algorithmic question: How could a teacher provide an informative…
We study the in-context learning (ICL) capabilities of pretrained Transformers in the setting of nonlinear regression. Specifically, we focus on a random Transformer with a nonlinear MLP head where the first layer is randomly initialized…
An inherent assumption of perfect tracking in iterative learning control (ILC) is that there exists an ILC input such that the generated output can track the desired trajectory reference. This assumption may fail in practice, which gives…
Shortcut learning refers to the phenomenon where models employ simple, non-robust decision rules in practical tasks, which hinders their generalization and robustness. With the rapid development of large language models (LLMs) in recent…
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
In-context learning (ICL) is the ability of a large language model (LLM) to learn a new task from a few demonstrations presented as part of the context. Past studies have attributed a large portion of the success of ICL to the way these…
A key challenge to understanding self-awareness has been a principled way of quantifying whether an intelligent system has a concept of a "self", and if so how to differentiate the "self" from other cognitive structures. We propose that the…
In this work, we explore the mechanism of in-context learning (ICL) on out-of-distribution (OOD) tasks that were not encountered during training. To achieve this, we conduct synthetic experiments where the objective is to learn OOD…
Conventional multi-label classification (MLC) methods assume that all samples are fully labeled and identically distributed. Unfortunately, this assumption is unrealistic in large-scale MLC data that has long-tailed (LT) distribution and…
Large Language Models (LLMs) exhibit In-Context Learning (ICL), which enables the model to perform new tasks conditioning only on the examples provided in the context without updating the model's weights. While ICL offers fast adaptation…
For data-driven iterative learning control (ILC) methods, both the model estimation and controller design problems are converted to parameter estimation problems for some chosen model structures. It is well-known that if the model order is…
A locally iterative learning (LIL) rule is adapted to a model of the associative memory based on the evolving recurrent-type neural networks composed of growing neurons. There exist extremely different scale parameters of time, the…
Large language models (LLMs) have shown impressive few-shot generalization on many tasks via in-context learning (ICL). Despite their success in showing such emergent abilities, the scale and complexity of larger models also lead to…
Continual learning (CL) learns a sequence of tasks incrementally. There are two popular CL settings, class incremental learning (CIL) and task incremental learning (TIL). A major challenge of CL is catastrophic forgetting (CF). While a…
In this paper, we present the combined learning-and-control (CLC) approach, which is a new way to solve optimal control problems with unknown dynamics by unifying model-based control and data-driven learning. The key idea is simple: we…
Continual learning (CL) provides a framework for training models in ever-evolving environments. Although re-occurrence of previously seen objects or tasks is common in real-world problems, the concept of repetition in the data stream is not…
In-context learning (ICL) enables large language models to adapt to new tasks from demonstrations without parameter updates. Despite extensive empirical studies, a principled understanding of ICL emergence at scale remains more elusive. We…
Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…