相关论文: How Training Data Impacts Performance in Learning-…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

This paper considers the problem of regulating a linear dynamical system to the solution of a convex optimization problem with an unknown or partially-known cost. We design a data-driven feedback controller - based on gradient flow dynamics…

For linear time-invariant systems, input-state data collected during an open-loop experiment can remedy the lack of knowledge of system parameters. However, such data do not contain information about other system uncertainties such as…

Learning for control in repeated tasks allows for well-designed experiments to gather the most useful data. We consider the setting in which we use a data-driven controller that does not have access to the true system dynamics. Rather, the…

Many recent studies endeavor to improve open-source language models through imitation learning, and re-training on the synthetic instruction data from state-of-the-art proprietary models like ChatGPT and GPT-4. However, the innate nature of…

When the dynamics of systems are unknown, supervised machine learning techniques are commonly employed to infer models from data. Gaussian process (GP) regression is a particularly popular learning method for this purpose due to the…

Artificial intelligence models trained from data can only be as good as the underlying data is. Biases in training data propagating through to the output of a machine learning model are a well-documented and well-understood phenomenon, but…

The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…

Data corruption, including missing and noisy data, poses significant challenges in real-world machine learning. This study investigates the effects of data corruption on model performance and explores strategies to mitigate these effects…

Trial-and-error based reinforcement learning (RL) has seen rapid advancements in recent times, especially with the advent of deep neural networks. However, the majority of autonomous RL algorithms require a large number of interactions with…

When feedback is absorbed faster than task structure can be evaluated, the learner will favor feedback over truth. A two-timescale model shows this feedback-truth gap is inevitable whenever the two rates differ and vanishes only when they…

In this paper we prove the existence of a fundamental trade-off between accuracy and robustness in perception-based control, where control decisions rely solely on data-driven, and often incompletely trained, perception maps. In particular,…

We analyze phase transitions in the conditional entropy of a sequence caused by a change in the conditional variables. Such transitions happen, for example, when training to learn the parameters of a system, since the transition from the…

This paper studies the performance of a feedback control loop closed via an error-free digital communication channel with transmission delay. The system comprises a discrete-time noisy linear time-invariant (LTI) plant whose single…

In many real world problems, control decisions have to be made with limited information. The controller may have no a priori (or even posteriori) data on the nonlinear system, except from a limited number of points that are obtained over…

This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new…

We introduce a method called TracIn that computes the influence of a training example on a prediction made by the model. The idea is to trace how the loss on the test point changes during the training process whenever the training example…

With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…

In many applications, one works with neural network models trained by someone else. For such pretrained models, one may not have access to training data or test data. Moreover, one may not know details about the model, e.g., the specifics…

Widespread deployment of societal-scale machine learning systems necessitates a thorough understanding of the resulting long-term effects these systems have on their environment, including loss of trustworthiness, bias amplification, and…