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This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

Robust regression models in the presence of outliers have significant practical relevance in areas such as signal processing, financial econometrics, and energy management. Many existing robust regression methods, either grounded in…

Adversarial Training (AT) is one of the most effective methods for developing robust deep neural networks (DNNs). However, AT faces a trade-off problem between clean accuracy and adversarial robustness. In this work, we reveal a surprising…

Resistive memory (RM) based neuromorphic systems can emulate synaptic plasticity and thus support continual learning, but they generally lack biologically inspired mechanisms for active forgetting, which are critical for meeting modern data…

Heuristic search-based planning techniques are commonly used for motion planning on discretized spaces. The performance of these algorithms is heavily affected by the resolution at which the search space is discretized. Typically a fixed…

The back-propagation (BP) algorithm has been considered the de-facto method for training deep neural networks. It back-propagates errors from the output layer to the hidden layers in an exact manner using the transpose of the feedforward…

We introduce a new memory architecture, Bayesian Relational Memory (BRM), to improve the generalization ability for semantic visual navigation agents in unseen environments, where an agent is given a semantic target to navigate towards. BRM…

Sharpness-Aware Minimization (SAM) is a recent training method that relies on worst-case weight perturbations which significantly improves generalization in various settings. We argue that the existing justifications for the success of SAM…

Multimodal perception enables robust autonomous driving but incurs unnecessary computational cost when all sensors remain active. This paper presents PRAM-R, a unified Perception-Reasoning-Action-Memory framework with LLM-Guided Modality…

We propose a new defense mechanism against adversarial attacks inspired by an optical co-processor, providing robustness without compromising natural accuracy in both white-box and black-box settings. This hardware co-processor performs a…

We study a sequential mechanism design problem in which a principal seeks to elicit truthful reports from multiple rational agents while starting with no prior knowledge of agents' beliefs. We introduce Distributionally Robust Adaptive…

Binary stochastic neurons (BSN's) form an integral part of many machine learning algorithms, motivating the development of hardware accelerators for this complex function. It has been recognized that hardware BSN's can be implemented using…

This paper proposes a robust adversarial reinforcement learning (RARL)-based multi-access point (AP) coordination method that is robust even against unexpected decentralized operations of uncoordinated APs. Multi-AP coordination is a…

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…

Model agnostic meta-learning (MAML) is a popular state-of-the-art meta-learning algorithm that provides good weight initialization of a model given a variety of learning tasks. The model initialized by provided weight can be fine-tuned to…

To deploy deep learning algorithms on resource-limited scenarios, an emerging device-resistive random access memory (ReRAM) has been regarded as promising via analog computing. However, the practicability of ReRAM is primarily limited due…

With the growth of interest in the attack and defense of deep neural networks, researchers are focusing more on the robustness of applying them to devices with limited memory. Thus, unlike adversarial training, which only considers the…

Motivated by the potential for parallel implementation of batch-based algorithms and the accelerated convergence achievable with approximated second order information a limited memory version of the BFGS algorithm has been receiving…

We propose a scalable robust learning algorithm combining kernel smoothing and robust optimization. Our method is motivated by the convex analysis perspective of distributionally robust optimization based on probability metrics, such as the…

The multi-reference alignment (MRA) problem involves reconstructing a signal from multiple noisy observations, each transformed by a random group element. In this paper, we focus on the group \(\mathrm{SO}(2)\) of in-plane rotations and…