相关论文: Reparameterized Variational Divergence Minimizatio…

We develop a divergence-minimization (DM) framework for robust and efficient inference in latent-mixture models. By optimizing a residual-adjusted divergence, the DM approach recovers EM as a special case and yields robust alternatives…

Limited data has become a major bottleneck in scaling up offline imitation learning (IL). In this paper, we propose enhancing IL performance under limited expert data by introducing a pre-training stage that learns dynamics representations,…

Gradient inversion attacks are often presented as a serious privacy threat in federated learning, with recent work reporting increasingly strong reconstructions under favorable experimental settings. However, it remains unclear whether such…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

We study reinforcement learning for partially observed Markov decision processes (POMDPs) with infinite observation and state spaces, which remains less investigated theoretically. To this end, we make the first attempt at bridging partial…

Variational mean field approximations tend to struggle with contemporary overparametrized deep neural networks. Where a Bayesian treatment is usually associated with high-quality predictions and uncertainties, the practical reality has been…

Training an agent to solve control tasks directly from high-dimensional images with model-free reinforcement learning (RL) has proven difficult. A promising approach is to learn a latent representation together with the control policy.…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

While existing work in robust deep learning has focused on small pixel-level norm-based perturbations, this may not account for perturbations encountered in several real-world settings. In many such cases although test data might not be…

Inverse problems (IPs) involve reconstructing signals from noisy observations. Recently, diffusion models (DMs) have emerged as a powerful framework for solving IPs, achieving remarkable reconstruction performance. However, existing…

Reparameterization Policy Gradient (RPG) has emerged as a powerful paradigm for model-based reinforcement learning, enabling high sample efficiency by backpropagating gradients through differentiable dynamics. However, prior RPG approaches…

We consider the stabilization of Vlasov--Poisson plasma dynamics, a central control problem in nuclear fusion. Our focus is the gap between what an ideal controller would use and what experiments can actually observe: while optimal policy…

Imitation learning enables the synthesis of controllers for complex objectives and highly uncertain plant models. However, methods to provide stability guarantees to imitation learned controllers often rely on large amounts of data and/or…

Offline reinforcement learning aims to learn from pre-collected datasets without active exploration. This problem faces significant challenges, including limited data availability and distributional shifts. Existing approaches adopt a…

Methods exploiting sparsity have been popular in imaging and signal processing applications including compression, denoising, and imaging inverse problems. Data-driven approaches such as dictionary learning and transform learning enable one…

Decentralized machine learning often relies on outsourcing computations, such as gradient evaluations, to untrusted worker nodes. Existing robust aggregation methods can mitigate malicious behavior under honest-majority assumptions, but may…

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…

In this paper, we introduce a novel family of iterative algorithms which carry out $\alpha$-divergence minimisation in a Variational Inference context. They do so by ensuring a systematic decrease at each step in the $\alpha$-divergence…

Training Large Language Models (LLMs) to reason often relies on Reinforcement Learning (RL) with task-specific verifiers. However, many real-world reasoning-intensive tasks lack verifiers, despite offering abundant expert demonstrations…

Learning from observations (LfO) replicates expert behavior without needing access to the expert's actions, making it more practical than learning from demonstrations (LfD) in many real-world scenarios. However, directly applying the…