相关论文: Few-shot Adaptation for Manipulating Granular Mate…

The single domain generalization(SDG) based on meta-learning has emerged as an effective technique for solving the domain-shift problem. However, the inadequate match of data distribution between source and augmented domains and difficult…

Legged robot locomotion on sand slopes is challenging due to the complex dynamics of granular media and how the lack of solid surfaces can hinder locomotion. A promising strategy, inspired by ghost crabs and other organisms in nature, is to…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Utilizing task-invariant prior knowledge extracted from related tasks, meta-learning is a principled framework that empowers learning a new task especially when data records are limited. A fundamental challenge in meta-learning is how to…

Operating a robot in the open world requires a high level of robustness with respect to previously unseen environments. Optimally, the robot is able to adapt by itself to new conditions without human supervision, e.g., automatically…

Due to the complex and highly dynamic motions in the real world, synthesizing dynamic videos from multi-view inputs for arbitrary viewpoints is challenging. Previous works based on neural radiance field or 3D Gaussian splatting are limited…

We study few-shot learning in natural language domains. Compared to many existing works that apply either metric-based or optimization-based meta-learning to image domain with low inter-task variance, we consider a more realistic setting,…

We propose a new metaheuristic training scheme that combines Stochastic Gradient Descent (SGD) and Discrete Optimization in an unconventional way. Our idea is to define a discrete neighborhood of the current SGD point containing a number of…

Despite the rapid expansion of smart grids and large volumes of data at the individual consumer level, there are still various cases where adequate data collection to train accurate load forecasting models is challenging or even impossible.…

Learning robot manipulation policies from raw, real-world image data requires a large number of robot-action trials in the physical environment. Although training using simulations offers a cost-effective alternative, the visual domain gap…

The choice of step-size used in Stochastic Gradient Descent (SGD) optimization is empirically selected in most training procedures. Moreover, the use of scheduled learning techniques such as Step-Decaying, Cyclical-Learning, and Warmup to…

Model-based control faces fundamental challenges in partially-observable environments due to unmodeled obstacles. We propose an online learning and optimization method to identify and avoid unobserved obstacles online. Our method,…

Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between…

We present prompt distribution learning for effectively adapting a pre-trained vision-language model to address downstream recognition tasks. Our method not only learns low-bias prompts from a few samples but also captures the distribution…

Deep learning networks are typically trained by Stochastic Gradient Descent (SGD) methods that iteratively improve the model parameters by estimating a gradient on a very small fraction of the training data. A major roadblock faced when…

Managing natural resources and mitigating risks from floods, droughts, wildfires, and landslides require models that can accurately predict climate-driven land-surface responses. Traditional models often struggle with spatial generalization…

Electroencephalography (EEG) data is often collected from diverse contexts involving different populations and EEG devices. This variability can induce distribution shifts in the data $X$ and in the biomedical variables of interest $y$,…

Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to the challenges of collecting effective training data and…

In the era of data-driven machine-learning applications, privacy concerns and the scarcity of labeled data have become paramount challenges. These challenges are particularly pronounced in the domain of few-shot learning, where the ability…

In this paper, we propose a new method called Gradual Domain Osmosis, which aims to solve the problem of smooth knowledge migration from source domain to target domain in Gradual Domain Adaptation (GDA). Traditional Gradual Domain…