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Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or black-box modeling using neural networks, can suffer from high…

Robotics · Computer Science 2019-03-05 Jayesh K. Gupta , Kunal Menda , Zachary Manchester , Mykel J. Kochenderfer

This article addresses the challenge of adapting data-based models over time. We propose a novel two-fold modelling architecture designed to correct plant-model mismatch caused by two types of uncertainty. Out-of-domain uncertainty arises…

Systems and Control · Electrical Eng. & Systems 2025-07-17 Laura Boca de Giuli , Alessio La Bella , Riccardo Scattolini

Many applications of machine learning require a model to make accurate pre-dictions on test examples that are distributionally different from training ones, while task-specific labels are scarce during training. An effective approach to…

Machine Learning · Computer Science 2020-02-20 Weihua Hu , Bowen Liu , Joseph Gomes , Marinka Zitnik , Percy Liang , Vijay Pande , Jure Leskovec

Neural networks have seen an explosion of usage and research in the past decade, particularly within the domains of computer vision and natural language processing. However, only recently have advancements in neural networks yielded…

Machine Learning · Computer Science 2022-07-20 Jacob Renn , Ian Sotnek , Benjamin Harvey , Brian Caffo

When adapting large language models (LLMs) to a specific downstream task, two primary approaches are commonly employed: (1) prompt engineering, often with in-context few-shot learning, leveraging the model's inherent generalization…

Machine Learning · Computer Science 2025-12-24 Jorg Bornschein , Clare Lyle , Yazhe Li , Amal Rannen-Triki , Xu Owen He , Razvan Pascanu

When fine-tuning Deep Neural Networks (DNNs) to new data, DNNs are prone to overwriting network parameters required for task-specific functionality on previously learned tasks, resulting in a loss of performance on those tasks. We propose…

Machine Learning · Computer Science 2025-01-22 Christopher Angelini , Nidhal Bouaynaya

In-context learning is the ability of a pretrained model to adapt to novel and diverse downstream tasks by conditioning on prompt examples, without optimizing any parameters. While large language models have demonstrated this ability, how…

Machine Learning · Computer Science 2023-05-23 Qian Huang , Hongyu Ren , Peng Chen , Gregor Kržmanc , Daniel Zeng , Percy Liang , Jure Leskovec

Although pretrained language models can be fine-tuned to produce state-of-the-art results for a very wide range of language understanding tasks, the dynamics of this process are not well understood, especially in the low data regime. Why…

Machine Learning · Computer Science 2020-12-25 Armen Aghajanyan , Luke Zettlemoyer , Sonal Gupta

With the ever-increasing number of pretrained models, machine learning practitioners are continuously faced with which pretrained model to use, and how to finetune it for a new dataset. In this paper, we propose a methodology that jointly…

Machine Learning · Computer Science 2024-02-26 Sebastian Pineda Arango , Fabio Ferreira , Arlind Kadra , Frank Hutter , Josif Grabocka

Recent years have seen considerable progress in the continual training of deep neural networks, predominantly thanks to approaches that add replay or regularization terms to the loss function to approximate the joint loss over all tasks so…

Machine Learning · Computer Science 2024-11-01 Timm Hess , Tinne Tuytelaars , Gido M. van de Ven

Graph representation learning aims to effectively encode high-dimensional sparse graph-structured data into low-dimensional dense vectors, which is a fundamental task that has been widely studied in a range of fields, including machine…

The development of large language models leads to the formation of a pre-train-then-align paradigm, in which the model is typically pre-trained on a large text corpus and undergoes a tuning stage to align the model with human preference or…

Computation and Language · Computer Science 2025-03-19 Kaiser Sun , Mark Dredze

Embedding static graphs in low-dimensional vector spaces plays a key role in network analytics and inference, supporting applications like node classification, link prediction, and graph visualization. However, many real-world networks…

Machine Learning · Computer Science 2021-07-23 Claudio D. T. Barros , Matheus R. F. Mendonça , Alex B. Vieira , Artur Ziviani

In deep learning, transferring information from a pretrained network to a downstream task by finetuning has many benefits. The choice of task head plays an important role in fine-tuning, as the pretrained and downstream tasks are usually…

Machine Learning · Computer Science 2023-02-14 Yi Ren , Shangmin Guo , Wonho Bae , Danica J. Sutherland

Link prediction is a fundamental problem in graph data analysis. While most of the literature focuses on transductive link prediction that requires all the graph nodes and majority of links in training, inductive link prediction, which only…

Machine Learning · Computer Science 2021-10-01 Huidong Liang , Junbin Gao

Subgraph representation learning based on Graph Neural Network (GNN) has exhibited broad applications in scientific advancements, such as predictions of molecular structure-property relationships and collective cellular function. In…

Machine Learning · Computer Science 2022-10-17 Yili Shen , Xiao Liu , Cheng-Wei Ju , Jiaxu Yan , Jun Yi , Zhou Lin , Hui Guan

Dense subgraph extraction is a fundamental problem in graph analysis and data mining, aimed at identifying cohesive and densely connected substructures within a given graph. It plays a crucial role in various domains, including social…

Data Structures and Algorithms · Computer Science 2024-03-01 Chia-Yang Hung , Chih-Ya Shen

In recent years, large language models (LLMs) have emerged as promising candidates for graph tasks. Many studies leverage natural language to describe graphs and apply LLMs for reasoning, yet most focus narrowly on performance benchmarks…

Machine Learning · Computer Science 2026-01-28 Yuxiang Wang , Xinnan Dai , Wenqi Fan , Yao Ma

Graphs represent interconnected structures prevalent in a myriad of real-world scenarios. Effective graph analytics, such as graph learning methods, enables users to gain profound insights from graph data, underpinning various tasks…

Machine Learning · Computer Science 2023-08-30 Zemin Liu , Yuan Li , Nan Chen , Qian Wang , Bryan Hooi , Bingsheng He

We present a new paradigm for fine-tuning large-scale visionlanguage pre-trained models on downstream task, dubbed Prompt Regularization (ProReg). Different from traditional fine-tuning which easily overfits to the downstream task data,…

Computer Vision and Pattern Recognition · Computer Science 2025-08-14 Beier Zhu , Yulei Niu , Saeil Lee , Minhoe Hur , Hanwang Zhang
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