Related papers: Active Constraint Learning in High Dimensions from…
In-context Learning (ICL) empowers large language models (LLMs) to swiftly adapt to unseen tasks at inference-time by prefixing a few demonstration examples before queries. Despite its versatility, ICL incurs substantial computational and…
In the learning from demonstration (LfD) paradigm, understanding and evaluating the demonstrated behaviors plays a critical role in extracting control policies for robots. Without this knowledge, a robot may infer incorrect reward functions…
Large language models (LLMs) have shown an impressive ability to perform a wide range of tasks using in-context learning (ICL), where a few examples are used to describe a task to the model. However, the performance of ICL varies…
In-context Learning (ICL) is an emerging few-shot learning paradigm on Language Models (LMs) with inner mechanisms un-explored. There are already existing works describing the inner processing of ICL, while they struggle to capture all the…
Regardless of the particular task we want them to perform in an environment, there are often shared safety constraints we want our agents to respect. For example, regardless of whether it is making a sandwich or clearing the table, a…
Despite the advancements in in-context learning (ICL) for large language models (LLMs), current research centers on specific prompt engineering, such as demonstration selection, with the expectation that a single iteration of demonstrations…
We present a method for learning unknown parametric constraints from locally-optimal input-output trajectory data. We assume the data is generated by rollouts of stochastic nonlinear dynamics, under a single state or output feedback law and…
This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different…
Continual learning (CL) enables deep neural networks to adapt to ever-changing data distributions. In practice, there may be scenarios where annotation is costly, leading to active continual learning (ACL), which performs active learning…
Multimodal Large Language Models (MLLMs) adapt to visual tasks via in-context learning (ICL), which relies heavily on demonstration quality. The dominant demonstration selection strategy is unsupervised k-Nearest Neighbor (kNN) search.…
We introduce the "adversarial code learning" (ACL) module that improves overall image generation performance to several types of deep models. Instead of performing a posterior distribution modeling in the pixel spaces of generators, ACLs…
In robotics, there is need of an interactive and expedite learning method as experience is expensive. Robot Learning from Demonstration (RLfD) enables a robot to learn a policy from demonstrations performed by teacher. RLfD enables a human…
Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…
Imitation learning targets deriving a mapping from states to actions, a.k.a. policy, from expert demonstrations. Existing methods for imitation learning typically require any actions in the demonstrations to be fully available, which is…
Automatic Curriculum Learning (ACL) has become a cornerstone of recent successes in Deep Reinforcement Learning (DRL).These methods shape the learning trajectories of agents by challenging them with tasks adapted to their capacities. In…
This paper studies data-driven iterative learning control (ILC) for linear time-invariant (LTI) systems with unknown dynamics, output disturbances and input box-constraints. Our main contributions are: 1) using a non-parametric data-driven…
We propose a general purpose active learning algorithm for structured prediction, gathering labeled data for training a model that outputs a set of related labels for an image or video. Active learning starts with a limited initial training…
We propose a highly data-efficient active learning framework for image classification. Our novel framework combines: (1) unsupervised representation learning of a Convolutional Neural Network and (2) the Gaussian Process (GP) method, in…
Active learning (AL) is a prominent technique for reducing the annotation effort required for training machine learning models. Deep learning offers a solution for several essential obstacles to deploying AL in practice but introduces many…
Stochastic Closed-Loop Active Fault Diagnosis (CLAFD) aims to select the input sequentially in order to improve the discrimination of different models by minimizing the predicted error probability. As computation of these error…