相关论文: Selection of Input Primitives for the Generalized …

Trajectory optimization is a fundamental stochastic optimal control problem. This paper deals with a trajectory optimization approach for dynamical systems subject to measurement noise that can be fitted into linear time-varying stochastic…

We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints,as well as nonlinear state constraints for discrete dynamical…

In this paper we introduce trajectory-based labeling, a new variant of dynamic map labeling, where a movement trajectory for the map viewport is given. We define a general labeling model and study the active range maximization problem in…

In this paper, we formulate a new generalized reference kernel hoping to improve the original base kernel using a set of reference vectors. Depending on the selected reference vectors, our formulation shows similarities to approximate…

A major challenge in designing efficient statistical supervised learning algorithms is finding representations that perform well not only on available training samples but also on unseen data. While the study of representation learning has…

Predictive control, which is based on a model of the system to compute the applied input optimizing the future system behavior, is by now widely used. If the nominal models are not given or are very uncertain, data-driven model predictive…

Partial label learning deals with the problem where each training instance is assigned a set of candidate labels, only one of which is correct. This paper provides the first attempt to leverage the idea of self-training for dealing with…

Self-training (ST) is a simple yet effective semi-supervised learning method. However, why and how ST improves generalization performance by using potentially erroneous pseudo-labels is still not well understood. To deepen the understanding…

Standard Model Predictive Control (MPC) or trajectory optimization approaches perform only a local search to solve a complex non-convex optimization problem. As a result, they cannot capture the multi-modal characteristic of human driving.…

Time-series generated by end-users, edge devices, and different wearables are mostly unlabelled. We propose a method to auto-generate labels of un-labelled time-series, exploiting very few representative labelled time-series. Our method is…

Pixel wise image labeling is an interesting and challenging problem with great significance in the computer vision community. In order for a dense labeling algorithm to be able to achieve accurate and precise results, it has to consider the…

Appropriate time discretization is crucial for real-time applications of numerical optimal control, such as nonlinear model predictive control. However, if the discretization error strongly depends on the applied control input, meeting…

Measurement and estimation of parameters are essential for science and engineering, where one of the main quests is to find systematic schemes that can achieve high precision. While conventional schemes for quantum parameter estimation…

Sampling-based model-predictive controllers have become a powerful optimization tool for planning and control problems in various challenging environments. In this paper, we show how the default choice of uncorrelated Gaussian distributions…

Efficiently fine-tuning Large Language Models (LLMs) for specific tasks presents a considerable challenge in natural language processing. Traditional methods, like prompt or prefix tuning, typically rely on arbitrary tokens for training,…

The \emph{generalized sorting problem} is a restricted version of standard comparison sorting where we wish to sort $n$ elements but only a subset of pairs are allowed to be compared. Formally, there is some known graph $G = (V, E)$ on the…

In the graph label selection problem, one is given an $n$-vertex graph and a budget $k$, and seeks to select $k$ vertices whose labels enable accurate prediction of the labels on the remaining vertices. This problem formalizes distilling a…

We investigate the problem of sequentially predicting the binary labels on the nodes of an arbitrary weighted graph. We show that, under a suitable parametrization of the problem, the optimal number of prediction mistakes can be…

Control system optimization has long been a fundamental challenge in robotics. While recent advancements have led to the development of control algorithms that leverage learning-based approaches, such as SafeOpt, to optimize single feedback…

Monitoring the performance of classification models in production is critical yet challenging due to strict labeling budgets, one-shot batch acquisition of labels and extremely low error rates. We propose a general framework based on…