Related papers: Regularized GLISp for sensor-guided human-in-the-l…

The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…

Logistic regression is commonly used for modeling dichotomous outcomes. In the classical setting, where the number of observations is much larger than the number of parameters, properties of the maximum likelihood estimator in logistic…

Current audio captioning relies on supervised learning with paired audio-caption data, which is costly to curate and may not reflect human preferences in real-world scenarios. To address this, we propose a preference-aligned audio…

Traditional data mining algorithms are exceptional at seeing patterns in data that humans cannot, but are often confused by details that are obvious to the organic eye. Algorithms that include humans "in-the-loop" have proved beneficial for…

For the problem of binary linear classification and feature selection, we propose algorithmic approaches to classifier design based on the generalized approximate message passing (GAMP) algorithm, recently proposed in the context of…

In this paper, we develop a simulation-based framework for regularized logistic regression, exploiting two novel results for scale mixtures of normals. By carefully choosing a hierarchical model for the likelihood by one type of mixture,…

Feature attribution methods such as SHapley Additive exPlanations (SHAP) have become instrumental in understanding machine learning models, but their role in guiding model optimization remains underexplored. In this paper, we propose a…

We propose a general framework for interactively learning models, such as (binary or non-binary) classifiers, orderings/rankings of items, or clusterings of data points. Our framework is based on a generalization of Angluin's equivalence…

We propose the AdaPtive Noise Augmentation (PANDA) procedure to regularize the estimation and inference of generalized linear models (GLMs). PANDA iteratively optimizes the objective function given noise augmented data until convergence to…

This paper proposes a stochastic model predictive control method for linear systems affected by additive Gaussian disturbances that optimizes over disturbance feedback matrices online. Closed-loop satisfaction of probabilistic constraints…

We consider learning to optimize a classification metric defined by a black-box function of the confusion matrix. Such black-box learning settings are ubiquitous, for example, when the learner only has query access to the metric of…

Learning from human feedback is a viable alternative to control design that does not require modelling or control expertise. Particularly, learning from corrective advice garners advantages over evaluative feedback as it is a more intuitive…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

Current alignment pipelines presume a single, universal notion of desirable behavior. However, human preferences often diverge across users, contexts, and cultures. As a result, disagreement collapses into the majority signal and minority…

Self-paced learning (SPL) is a recently raised methodology designed through simulating the learning principle of humans/animals. A variety of SPL realization schemes have been designed for different computer vision and pattern recognition…

Mixup is a data augmentation technique that creates new examples as convex combinations of training points and labels. This simple technique has empirically shown to improve the accuracy of many state-of-the-art models in different settings…

Optimization problems with uncertain black-box constraints, modeled by warped Gaussian processes, have recently been considered in the Bayesian optimization setting. This work introduces a new class of constraints in which the same…

Preference learning has long been studied in Human-Robot Interaction (HRI) in order to adapt robot behavior to specific user needs and desires. Typically, human preferences are modeled as a scalar function; however, such a formulation…

We consider a discrete optimization formulation for learning sparse classifiers, where the outcome depends upon a linear combination of a small subset of features. Recent work has shown that mixed integer programming (MIP) can be used to…

The success of AI assistants based on language models (LLMs) hinges crucially on Reinforcement Learning from Human Feedback (RLHF), which enables the generation of responses more aligned with human preferences. As universal AI assistants,…