相关论文: Information theoretic approach to robust multi-Ber…

Feature selection is one of the most fundamental problems in machine learning. An extensive body of work on information-theoretic feature selection exists which is based on maximizing mutual information between subsets of features and class…

Monte Carlo tests are widely used for computing valid p-values without requiring known distributions of test statistics. When performing multiple Monte Carlo tests, it is essential to maintain control of the type I error. Some techniques…

Multi-label classification is a common challenge in various machine learning applications, where a single data instance can be associated with multiple classes simultaneously. The current paper proposes a novel tree-based method for…

In object tracking and state estimation problems, ambiguous evidence such as imprecise measurements and the absence of detections can contain valuable information and thus be leveraged to further refine the probabilistic belief state. In…

In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…

Gathering labeled data to train well-performing machine learning models is one of the critical challenges in many applications. Active learning aims at reducing the labeling costs by an efficient and effective allocation of costly labeling…

Importance sampling is a Monte Carlo method which designs estimators of expectations under a target distribution using weighted samples from a proposal distribution. When the target distribution is complex, such as multimodal distributions…

We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via…

The ability to detect when a system undergoes an incipient fault is of paramount importance in preventing a critical failure. Classic methods for fault detection (including model-based and data-driven approaches) rely on thresholding error…

This tutorial provides an in-depth guide on inference-time guidance and alignment methods for optimizing downstream reward functions in diffusion models. While diffusion models are renowned for their generative modeling capabilities,…

This paper proposes a synergy of amortised and particle-based methods for sampling from distributions defined by unnormalised density functions. We state a connection between sequential Monte Carlo (SMC) and neural sequential samplers…

This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…

Information theoretic measures (entropies, entropy rates, mutual information) are nowadays commonly used in statistical signal processing for real-world data analysis. The present work proposes the use of Auto Mutual Information (Mutual…

This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…

Traffic scenarios are inherently interactive. Multiple decision-makers predict the actions of others and choose strategies that maximize their rewards. We view these interactions from the perspective of game theory which introduces various…

In the past decades, we have witnessed significant progress in the domain of autonomous driving. Advanced techniques based on optimization and reinforcement learning (RL) become increasingly powerful at solving the forward problem: given…

This paper presents an exact Bayesian filtering solution for the multi-object tracking problem with the generic observation model. The proposed solution is designed in the labeled random finite set framework, using the product styled…

At the heart of path-planning methods for autonomous robotic exploration is a heuristic which encourages exploring unknown regions of the environment. Such heuristics are typically computed using frontier-based or information-theoretic…

We propose a novel data-driven stochastic model predictive control framework for uncertain linear systems with noisy output measurements. Our approach leverages multi-step predictors to efficiently propagate uncertainty, ensuring chance…

One of the well-known challenges in optimal experimental design is how to efficiently estimate the nested integrations of the expected information gain. The Gaussian approximation and associated importance sampling have been shown to be…