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We propose a new computationally-efficient first-order algorithm for Model-Agnostic Meta-Learning (MAML). The key enabling technique is to interpret MAML as a bilevel optimization (BLO) problem and leverage the sign-based SGD(signSGD) as a…

Stem cell therapy is a promising approach to treat heart insufficiency and benefits from automated myocardial injection which requires highly precise motion of a robotic manipulator that is equipped with a syringe. This work investigates…

Complex physical simulations often require trade-offs between model fidelity and computational feasibility. We introduce Adaptive Online Emulation (AOE), which dynamically learns neural network surrogates during simulation execution to…

A continual learning agent should be able to build on top of existing knowledge to learn on new data quickly while minimizing forgetting. Current intelligent systems based on neural network function approximators arguably do the…

Representation learning is a key technique in modern machine learning that enables models to identify meaningful patterns in complex data. However, different methods tend to extract distinct aspects of the data, and relying on a single…

In recent years, Artificial Intelligence has become a powerful partner for complex tasks such as data analysis, prediction, and problem-solving, yet its lack of transparency raises concerns about its reliability. In sensitive domains such…

In meta-learning approaches, it is difficult for a practitioner to make sense of what kind of representations the model employs. Without this ability, it can be difficult to both understand what the model knows as well as to make meaningful…

Network representation learning, as an approach to learn low dimensional representations of vertices, has attracted considerable research attention recently. It has been proven extremely useful in many machine learning tasks over large…

Lightweight semantic segmentation is essential for many downstream vision tasks. Unfortunately, existing methods often struggle to balance efficiency and performance due to the complexity of feature modeling. Many of these existing…

Training a deep neural network requires a large amount of single-task data and involves a long time-consuming optimization phase. This is not scalable to complex, realistic environments with new unexpected changes. Humans can perform fast…

Recent advances in learning aligned multimodal representations have been primarily driven by training large neural networks on massive, noisy paired-modality datasets. In this work, we ask whether it is possible to achieve similar results…

When the system is linear, why should learning be nonlinear? Linear dynamical systems, the analytical backbone of control theory, signal processing and circuit analysis, have exact closed-form solutions via the state transition matrix. Yet…

Implementing intelligent control of robots is a difficult task, especially when dealing with complex black-box systems, because of the lack of visibility and understanding of how these robots work internally. This paper proposes an…

There is a growing interest in studying sequential neural posterior estimation (SNPE) techniques due to their advantages for simulation-based models with intractable likelihoods. The methods aim to learn the posterior from adaptively…

In the near future, robots are expected to work with humans or operate alone and may replace human workers in various fields such as homes and factories. In a previous study, we proposed bilateral control-based imitation learning that…

In classical machine learning, regression is treated as a black box process of identifying a suitable function from a hypothesis set without attempting to gain insight into the mechanism connecting inputs and outputs. In the natural…

Continual learning of pretrained vision-language models (VLMs) is prone to catastrophic forgetting, yet current approaches adapt to new tasks without explicitly preserving the cross-modal semantic geometry inherited from pretraining and…

Learning quickly is of great importance for machine intelligence deployed in online platforms. With the capability of transferring knowledge from learned tasks, meta-learning has shown its effectiveness in online scenarios by continuously…

The support vector machines (SVM) is one of the most widely used and practical optimization based classification models in machine learning because of its interpretability and flexibility to produce high quality results. However, the big…

In this paper, we explore how we can build upon the data and models of Internet images and use them to adapt to robot vision without requiring any extra labels. We present a framework called Self-supervised Embodied Active Learning (SEAL).…