Related papers: Foundations of Iterative Learning Control
Large language models (LLMs) have shown the emergent capability of in-context learning (ICL). One line of research has claimed that ICL is functionally equivalent to gradient descent, a type of error-driven learning mechanism. In this…
This paper first demonstrates that applying standard incremental nonlinear dynamic inversion (INDI) with incremental control allocation (ICA) to input nonaffine systems relies on an untenable linear approximation of the actuator model. It…
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…
We present the problem of inverse constraint learning (ICL), which recovers constraints from demonstrations to autonomously reproduce constrained skills in new scenarios. However, ICL suffers from an ill-posed nature, leading to inaccurate…
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…
Interleaving learning is a human learning technique where a learner interleaves the studies of multiple topics, which increases long-term retention and improves ability to transfer learned knowledge. Inspired by the interleaving learning…
In this technical note we analyse the performance improvement and optimality properties of the Learning Model Predictive Control (LMPC) strategy for linear deterministic systems. The LMPC framework is a policy iteration scheme where…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
In-context learning (ICL) allows Transformers to adapt to novel tasks without weight updates, yet the underlying algorithms remain poorly understood. We adopt a statistical decision-theoretic perspective by investigating simple binary…
Pre-trained transformers are able to learn from examples provided as part of the prompt without any weight updates, a remarkable ability known as in-context learning (ICL). Despite its demonstrated efficacy across various domains, the…
In this paper, by treating in-context learning (ICL) as a meta-optimization process, we explain why LLMs are sensitive to the order of ICL examples. This understanding leads us to the development of Batch-ICL, an effective, efficient, and…
Transformer models exhibit remarkable in-context learning (ICL), adapting to novel tasks from examples within their context, yet the underlying mechanisms remain largely mysterious. Here, we provide an exact analytical characterization of…
In-context learning (ICL) is an emerging capability of large autoregressive language models where a few input-label demonstrations are appended to the input to enhance the model's understanding of downstream NLP tasks, without directly…
Learning-based control has attracted significant attention in recent years, especially for plants that are difficult to model based on first-principles. A key issue in learning-based control is how to make efficient use of data as the…
In-context learning (ICL) is a central capability of Transformer models, but the structures in data that enable its emergence and govern its robustness remain poorly understood. In this work, we study how the structure of pretraining tasks…
While large language models based on the transformer architecture have demonstrated remarkable in-context learning (ICL) capabilities, understandings of such capabilities are still in an early stage, where existing theory and mechanistic…
Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…
Pre-trained large language models based on Transformers have demonstrated remarkable in-context learning (ICL) abilities. With just a few demonstration examples, the models can implement new tasks without any parameter updates. However, it…
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…
Inverse Constraint Learning (ICL) is the problem of inferring constraints from safe (i.e., constraint-satisfying) demonstrations. The hope is that these inferred constraints can then be used downstream to search for safe policies for new…