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Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Despite remarkable successes, deep reinforcement learning algorithms remain sample inefficient: they require an enormous amount of trial and error to find good policies. Model-based algorithms promise sample efficiency by building an…
In this work, we introduce a learning model designed to meet the needs of applications in which computational resources are limited, and robustness and interpretability are prioritized. Learning problems can be formulated as constrained…
Spiking neural networks (SNNs) are distributed trainable systems whose computing elements, or neurons, are characterized by internal analog dynamics and by digital and sparse synaptic communications. The sparsity of the synaptic spiking…
Algorithm unrolling has emerged as a learning-based optimization paradigm that unfolds truncated iterative algorithms in trainable neural-network optimizers. We introduce Stochastic UnRolled Federated learning (SURF), a method that expands…
Modern statistical machine learning (SML) methods share a major limitation with the early approaches to AI: there is no scalable way to adapt them to new domains. Human learning solves this in part by leveraging a rich, shared, updateable…
Adopting large-scale AI models in enterprise information systems is often hindered by high training costs and long development cycles, posing a significant managerial challenge. The standard end-to-end backpropagation (BP) algorithm is a…
In this paper, we introduces a Pseudo-Symplectic Neural Network (PSNN) for learning general Hamiltonian systems (both separable and non-separable) from data. To address the limitations of existing structure-preserving methods (e.g.,…
Mixed cooperative-competitive control scenarios such as human-machine interaction with individual goals of the interacting partners are very challenging for reinforcement learning agents. In order to contribute towards intuitive…
Sparse learning is a very important tool for mining useful information and patterns from high dimensional data. Non-convex non-smooth regularized learning problems play essential roles in sparse learning, and have drawn extensive attentions…
In this paper, we propose Sparse Imitation Reinforcement Learning (SIRL), a hybrid end-to-end control policy that combines the sparse expert driving knowledge with reinforcement learning (RL) policy for autonomous driving (AD) task in CARLA…
Federated learning (FedL) has emerged as a popular technique for distributing model training over a set of wireless devices, via iterative local updates (at devices) and global aggregations (at the server). In this paper, we develop…
This paper studies how to train machine-learning models that directly approximate the optimal solutions of constrained optimization problems. This is an empirical risk minimization under constraints, which is challenging as training must…
Physics-informed neural networks (PINNs) incorporate physical knowledge from the problem domain as a soft constraint on the loss function, but recent work has shown that this can lead to optimization difficulties. Here, we study the impact…
Decoupled PPO has been a successful reinforcement learning (RL) algorithm to deal with the high data staleness under the asynchronous RL setting. Decoupled loss used in decoupled PPO improves coupled-loss style of algorithms' (e.g.,…
Self-supervised learning (SSL) is an efficient approach that addresses the issue of limited training data and annotation shortage. The key part in SSL is its proxy task that defines the supervisory signals and drives the learning toward…
Sharpness-aware minimization (SAM) is a recently proposed training method that seeks to find flat minima in deep learning, resulting in state-of-the-art performance across various domains. Instead of minimizing the loss of the current…
While distributed training significantly speeds up the training process of the deep neural network (DNN), the utilization of the cluster is relatively low due to the time-consuming data synchronizing between workers. To alleviate this…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Prompt learning has emerged as a promising method for adapting pre-trained visual-language models (VLMs) to a range of downstream tasks. While optimizing the context can be effective for improving performance on specific tasks, it can often…