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

For a discrete-time linear system, we use data from a single open-loop experiment to design directly a feedback controller enforcing that a given (polyhedral) set of the state is invariant and given (polyhedral) constraints on the control…

Closed-loop performance of sequential decision making algorithms, such as model predictive control, depends strongly on the choice of controller parameters. Bayesian optimization allows learning of parameters from closed-loop experiments,…

We develop a methodology for analyzing language model task performance at the individual example level based on training data density estimation. Experiments with paraphrasing as a controlled intervention on finetuning data demonstrate that…

We suppose that performance is a random variable whose expectation is related to training inputs, and we study four performance measures in a statistical model that relates performance to training. Our aim is to carry out a robust…

Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop prediction accuracy by…

As the systems we control become more complex, first-principle modeling becomes either impossible or intractable, motivating the use of machine learning techniques for the control of systems with continuous action spaces. As impressive as…

Learning from Demonstration (LfD) empowers robots to acquire new skills through human demonstrations, making it feasible for everyday users to teach robots. However, the success of learning and generalization heavily depends on the quality…

We focus our attention on the most common scenario in networked control systems where the measured output from the observer is transmitted via a communication channel to the controller. Using information theoretic results, we studied the…

Due to its state-of-the-art estimation performance complemented by rigorous and non-conservative uncertainty bounds, Gaussian process regression is a popular tool for enhancing dynamical system models and coping with their inaccuracies.…

An important question in data-driven control is how to obtain an informative dataset. In this work, we consider the problem of effective data acquisition of an unknown linear system with bounded disturbance for both open-loop and…

This paper studies a data-driven predictive control for a class of control-affine systems which is subject to uncertainty. With the accessibility to finite sample measurements of the uncertain variables, we aim to find controls which are…

Estimating state of health is a critical function of a battery management system but remains challenging due to the variability of operating conditions and usage requirements of real applications. As a result, techniques based on fitting…

The advancement of Artificial Intelligence (AI) has created opportunities for e-learning, particularly in automated assessment systems that reduce educators' workload and provide timely feedback to students. However, developing effective…

Generative data augmentation, which scales datasets by obtaining fake labeled examples from a trained conditional generative model, boosts classification performance in various learning tasks including (semi-)supervised learning, few-shot…

Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear…

We propose an approach to estimate the number of samples required for a model to reach a target performance. We find that the power law, the de facto principle to estimate model performance, leads to large error when using a small dataset…

In wireless communication-based formation control systems, the control performance is significantly impacted by the channel capacity of each communication link between agents. This relationship, however, remains under-investigated in the…

Applying model predictive control on embedded systems remains challenging due to the high computational cost of solving optimal control problems. To address this limitation, computationally efficient Gaussian process approximations of the…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

In many real-world dynamical systems, obtaining precise models of system uncertainty remains a challenge. It may be difficult to estimate noise distributions or robustness bounds, especially when the distributions/robustness bounds vary…