Related papers: CABS: Conflict-Aware and Balanced Sparsification f…

Signal models based on sparse representations have received considerable attention in recent years. On the other hand, deep models consisting of a cascade of functional layers, commonly known as deep neural networks, have been highly…

Driven by significant improvements in architectural design and training pipelines, computer vision has recently experienced dramatic progress in terms of accuracy on classic benchmarks such as ImageNet. These highly-accurate models are…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently conflict, as informative viewpoints often lie near uncertain…

Multi-task learning (MTL) is often achieved by merging datasets before fine-tuning, but the growing availability of fine-tuned models has led to new approaches such as model merging via task arithmetic. A major challenge in this setting is…

Multi-robot systems are integral to modern logistics, but their capabilities are often limited to tasks executable by individual agents. This paper addresses a critical gap in existing frameworks like Multi-Agent Path Finding (MAPF) and…

Multi-Agent Path Finding (MAPF) algorithms, including those for car-like robots and grid-based scenarios, face significant computational challenges due to expensive heuristic calculations. Traditional heuristic caching assumes that the…

Recent advances in deep learning have led to a surge of open-source models across diverse domains. While model merging offers a promising way to combine their strengths, existing approaches often suffer from parameter conflicts that degrade…

Blind source separation (BSS) is a very popular technique to analyze multichannel data. In this context, the data are modeled as the linear combination of sources to be retrieved. For that purpose, standard BSS methods all rely on some…

Solving multiple visual tasks using individual models can be resource-intensive, while multi-task learning can conserve resources by sharing knowledge across different tasks. Despite the benefits of multi-task learning, such techniques can…

Advancing towards generalist agents necessitates the concurrent processing of multiple tasks using a unified model, thereby underscoring the growing significance of simultaneous model training on multiple downstream tasks. A common issue in…

Deep vision classifiers often achieve high accuracy while remaining poorly calibrated and fragile under small distribution shifts. We present Margin and Consistency Supervision (MaCS), a simple, architecture-agnostic regularization…

This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone…

In this work, we address the problem of solving complex collaborative robotic tasks subject to multiple varying parameters. Our approach combines simultaneous policy blending with system identification to create generalized policies that…

Model merging is an effective strategy to merge multiple models for enhancing model performances, and more efficient than ensemble learning as it will not introduce extra computation into inference. However, limited research explores if the…

Robots performing manipulation tasks must operate under uncertainty about both their pose and the dynamics of the system. In order to remain robust to modeling error and shifts in payload dynamics, agents must simultaneously perform…

The bias-variance trade-off is a central concept in supervised learning. In classical statistics, increasing the complexity of a model (e.g., number of parameters) reduces bias but also increases variance. Until recently, it was commonly…

Task arithmetic is a straightforward yet highly effective strategy for model merging, enabling the resultant model to exhibit multi-task capabilities. Recent research indicates that models demonstrating linearity enhance the performance of…

Conflict-Based Search (CBS) is a widely used algorithm for solving multi-agent pathfinding (MAPF) problems optimally. The core idea of CBS is to run hierarchical search, when, on the high level the tree of solutions candidates is explored,…

Identifying the parameters of a model and rating competitive models based on measured data has been among the most important but challenging topics in modern science and engineering, with great potential of application in structural system…