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Regression problems are pervasive in real-world applications. Generally a substantial amount of labeled samples are needed to build a regression model with good generalization ability. However, many times it is relatively easy to collect a…

The Gaussian process state-space model (GPSSM) has attracted extensive attention for modeling complex nonlinear dynamical systems. However, the existing GPSSM employs separate Gaussian processes (GPs) for each latent state dimension,…

In this paper we consider the task of estimating the non-zero pattern of the sparse inverse covariance matrix of a zero-mean Gaussian random vector from a set of iid samples. Note that this is also equivalent to recovering the underlying…

We use spatially-sparse two, three and four dimensional convolutional autoencoder networks to model sparse structures in 2D space, 3D space, and 3+1=4 dimensional space-time. We evaluate the resulting latent spaces by testing their…

The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…

How can we learn the laws underlying the dynamics of stochastic systems when their trajectories are sampled sparsely in time? Existing methods either require temporally resolved high-frequency observations, or rely on geometric arguments…

This paper studies the estimation of the conditional density f (x, $\times$) of Y i given X i = x, from the observation of an i.i.d. sample (X i , Y i) $\in$ R d , i = 1,. .. , n. We assume that f depends only on r unknown components with…

Given (small amounts of) time-series' data from a high-dimensional, fine-grained, multiscale dynamical system, we propose a generative framework for learning an effective, lower-dimensional, coarse-grained dynamical model that is predictive…

In this paper, we show that the performance of a learnt generative model is closely related to the model's ability to accurately represent the inferred \textbf{latent data distribution}, i.e. its topology and structural properties. We…

For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…

It is challenging to perform system identification on soft robots due to their underactuated, high-dimensional dynamics. In this work, we present a data-driven modeling framework, based on geometric mechanics (also known as gauge theory)…

Solving inverse problems in cardiac electrophysiology consists in the recovery of physiological parameters from surface electrocardiogram (ECG) measurements, a task which is often computationally unfeasible due to the severe ill-posedness…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

A framework for adaptive and non-adaptive statistical compressive sensing is developed, where a statistical model replaces the standard sparsity model of classical compressive sensing. We propose within this framework optimal task-specific…

We propose a fast probabilistic framework for identifying differential equations governing the dynamics of observed data. We recast the SINDy method within a Bayesian framework and use Gaussian approximations for the prior and likelihood to…

The performance of learning-based control techniques crucially depends on how effectively the system is explored. While most exploration techniques aim to achieve a globally accurate model, such approaches are generally unsuited for systems…

In this paper, we propose a novel method named GP-Aligner to deal with the problem of non-rigid groupwise point set registration. Compared to previous non-learning approaches, our proposed method gains competitive advantages by leveraging…

In their standard form Gaussian processes (GPs) provide a powerful non-parametric framework for regression and classificaton tasks. Their one limiting property is their $\mathcal{O}(N^{3})$ scaling where $N$ is the number of training data…

We show how perceptual embeddings of the visual system can be constructed at inference-time with no training data or deep neural network features. Our perceptual embeddings are solutions to a weighted least squares (WLS) problem, defined at…

Fault detection and identification (FDI) is critical for maintaining the safety and reliability of systems subject to actuator and sensor faults. In this paper, the problem of FDI for nonlinear control-affine systems under simultaneous…