相关论文: Data Augmentation Methods of Dynamic Model Identif…

This work proposes a data-driven modeling and the corresponding hybrid motion control framework for unmanned and automated operation of industrial heavy-load hydraulic manipulator. Rather than the direct use of a neural network black box,…

Generative modeling can be formulated as learning a mapping f such that its pushforward distribution matches the data distribution. The pushforward behavior can be carried out iteratively at inference time, for example in diffusion and…

Infant motility assessment using intelligent wearables is a promising new approach for assessment of infant neurophysiological development, and where efficient signal analysis plays a central role. This study investigates the use of…

Data augmentation in deep neural networks is the process of generating artificial data in order to reduce the variance of the classifier with the goal to reduce the number of errors. This idea has been shown to improve deep neural network's…

Data augmentation is a critical component of training deep learning models. Although data augmentation has been shown to significantly improve image classification, its potential has not been thoroughly investigated for object detection.…

Motion forecasting has become an increasingly critical component of autonomous robotic systems. Onboard compute budgets typically limit the accuracy of real-time systems. In this work we propose methods of improving motion forecasting…

Dataset Distillation (DD), a newly emerging field, aims at generating much smaller but efficient synthetic training datasets from large ones. Existing DD methods based on gradient matching achieve leading performance; however, they are…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

Data-driven model identification strategies can be used to obtain phenomenological models that capture the temporal evolution of observable data. While it is usually straightforward to obtain such a model from time series data, for instance…

Recently, an extensive amount of research has been focused on compressing and accelerating Deep Neural Networks (DNN). So far, high compression rate algorithms require part of the training dataset for a low precision calibration, or a…

In this article, we propose a data-enabled economic predictive control method for a class of nonlinear systems, which aims to optimize the economic operational performance while handling hard constraints on the system outputs. Two lifting…

Model predictive control (MPC) has been shown to significantly improve the energy efficiency of buildings while maintaining thermal comfort. Data-driven approaches based on neural networks have been proposed to facilitate system modelling.…

This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models. The proposed approach uses human demonstrations to train…

Supervised machine learning relies on the availability of good labelled data for model training. Labelled data is acquired by human annotation, which is a cumbersome and costly process, often requiring subject matter experts. Active…

Data augmentation (DA) turns seemingly intractable computational problems into simple ones by augmenting latent missing data. In addition to computational simplicity, it is now well-established that DA equipped with a deterministic…

Using a probabilistic neural network and Lagrangian observations from the Global Drifter Program, we model the single particle transition probability density function (pdf) of ocean surface drifters. The transition pdf is represented by a…

Data augmentation (DA) has been widely investigated to facilitate model optimization in many tasks. However, in most cases, data augmentation is randomly performed for each training sample with a certain probability, which might incur…

Accurate dynamics models are critical for the design of predictive controller for autonomous mobile robots. Physics-based models are often too simple to capture relevant real-world effects, while data-driven models are data-intensive and…

Many machine learning solutions are framed as optimization problems which rely on good hyperparameters. Algorithms for tuning these hyperparameters usually assume access to exact solutions to the underlying learning problem, which is…

Supervised deep learning methods for segmentation require large amounts of labelled training data, without which they are prone to overfitting, not generalizing well to unseen images. In practice, obtaining a large number of annotations…