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In data-rich domains such as vision, language, and speech, deep learning prevails to deliver high-performance task-specific models and can even learn general task-agnostic representations for efficient finetuning to downstream tasks.…

Machine learning algorithms minimizing average risk are susceptible to distributional shifts. Distributionally Robust Optimization (DRO) addresses this issue by optimizing the worst-case risk within an uncertainty set. However, DRO suffers…

Deep neural networks have emerged as very successful tools for image restoration and reconstruction tasks. These networks are often trained end-to-end to directly reconstruct an image from a noisy or corrupted measurement of that image. To…

Domain Adaptation (DA) has recently received significant attention due to its potential to adapt a learning model across source and target domains with mismatched distributions. Since DA methods rely exclusively on the given source and…

Deep neural networks achieve state-of-the-art results for accelerated MRI reconstruction. Most research on deep learning based imaging focuses on improving neural network architectures trained and evaluated on fixed and homogeneous training…

Deep learning models have demonstrated remarkable performance across various computer vision tasks, yet their vulnerability to distribution shifts remains a critical challenge. Despite sophisticated neural network architectures, existing…

Vision-Language-Action (VLA) models have demonstrated remarkable performance on complex tasks through imitation learning in recent robotic manipulation works. Based on large-scale and high-quality demonstration datasets, existing imitation…

The excellent performance of deep neural networks is usually accompanied by a large number of parameters and computations, which have limited their usage on the resource-limited edge devices. To address this issue, abundant methods such as…

Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase…

This early-stage research work aims to improve online human-robot imitation by translating sequences of joint positions from the domain of human motions to a domain of motions achievable by a given robot, thus constrained by its embodiment.…

The standard paradigm for training deep learning models on sensor data assumes that more data is always better. However, raw sensor streams are often imbalanced and contain significant redundancy, meaning that not all data points contribute…

Continual pre-training is widely used to adapt LLMs to target languages and domains, yet the mixture ratio of training data remains a sensitive hyperparameter that is expensive to tune: they must be fixed before training begins, and a…

Ensembling fine-tuned models initialized from powerful pre-trained weights is a common strategy to improve robustness under distribution shifts, but it comes with substantial computational costs due to the need to train and store multiple…

Generalization of neural networks is crucial for deploying them safely in the real world. Common training strategies to improve generalization involve the use of data augmentations, ensembling and model averaging. In this work, we first…

Multi-domain fine-tuning of large language models requires improving performance on target domains while preserving performance on constrained domains, such as general knowledge, instruction following, or safety evaluations. Existing data…

State-of-the-art large language and vision models are trained over trillions of tokens that are aggregated from a large variety of sources. As training data collections grow, manually managing the samples becomes time-consuming, tedious,…

Pretraining reinforcement learning (RL) models on offline datasets is a promising way to improve their training efficiency in online tasks, but challenging due to the inherent mismatch in dynamics and behaviors across various tasks. We…

With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…

In the context of continual learning, acquiring new knowledge while maintaining previous knowledge presents a significant challenge. Existing methods often use experience replay techniques that store a small portion of previous task data…

Meta-reinforcement learning algorithms provide a data-driven way to acquire policies that quickly adapt to many tasks with varying rewards or dynamics functions. However, learned meta-policies are often effective only on the exact task…