Related papers: Foundations of Iterative Learning Control

In-context learning (ICL) refers to the ability of a model to condition on a few in-context demonstrations (input-output examples of the underlying task) to generate the answer for a new query input, without updating parameters. Despite the…

Transformer-based multimodal large language models often exhibit in-context learning (ICL) abilities. Motivated by this phenomenon, we ask: how do transformers learn to associate information across modalities from in-context examples? We…

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…

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…

When robots operate in unknown environments small errors in postions can lead to large variations in the contact forces, especially with typical high-impedance designs. This can potentially damage the surroundings and/or the robot. Series…

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…

A fundamental question in neuroscience is how the brain creates an internal model of the world to guide actions using sequences of ambiguous sensory information. This is naturally formulated as a reinforcement learning problem under partial…

Class incremental learning (CIL) algorithms aim to continually learn new object classes from incrementally arriving data while not forgetting past learned classes. The common evaluation protocol for CIL algorithms is to measure the average…

In-Context Learning (ICL) has emerged as a pivotal capability of auto-regressive large language models, yet it is hindered by a notable sensitivity to the ordering of context examples regardless of their mutual independence. To address this…

Transformers have a remarkable ability to learn and execute tasks based on examples provided within the input itself, without explicit prior training. It has been argued that this capability, known as in-context learning (ICL), is a…

Understanding the internal mechanisms of GPT-style transformers, particularly their capacity to perform in-context learning (ICL), is critical for advancing AI alignment and interpretability. In-context learning allows transformers to…

Despite the advancements in in-context learning (ICL) for large language models (LLMs), current research centers on specific prompt engineering, such as demonstration selection, with the expectation that a single iteration of demonstrations…

Implicit in-context learning (ICL) has newly emerged as a promising paradigm that simulates ICL behaviors in the representation space of Large Language Models (LLMs), aiming to attain few-shot performance at zero-shot cost. However,…

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…

Recent work has demonstrated that transformers and linear attention models can perform in-context learning (ICL) on simple function classes, such as linear regression. In this paper, we empirically study how these two attention mechanisms…

In-context learning (ICL) enables transformers to adapt to new tasks through contextual examples without parameter updates. While existing research has typically studied ICL in fixed-complexity environments, practical language models…

Transformers excel at in-context learning (ICL) -- learning from demonstrations without parameter updates -- but how they do so remains a mystery. Recent work suggests that Transformers may internally run Gradient Descent (GD), a…

In this contribution, we derive ILEG, an iterative algorithm to find risk sensitive solutions to nonlinear, stochastic optimal control problems. The algorithm is based on a linear quadratic approximation of an exponential risk sensitive…

This work improves the positioning precision of lightweight robots with series elastic actuators (SEAs). Lightweight SEA robots, along with low-impedance control, can maneuver without causing damage in uncertain, confined spaces such as…

The success of Transformers lies in their ability to improve inference through two complementary strategies: the permanent refinement of model parameters via in-weight learning (IWL), and the ephemeral modulation of inferences via…