相关论文: Meta-learning for model-reference data-driven cont…

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…

Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…

Large language models show impressive results on few-shot NLP tasks. However, these models are memory and computation-intensive. Meta-training allows one to leverage smaller models for few-shot generalization in a domain-general and…

Federated learning is a popular collaborative learning approach that enables clients to train a global model without sharing their local data. Vertical federated learning (VFL) deals with scenarios in which the data on clients have…

With recent advancements in Large Multimodal Models (LMMs) across various domains, a novel prompting method called visual referring prompting has emerged, showing significant potential in enhancing human-computer interaction within…

In this paper, we consider the problem of finding a meta-learning online control algorithm that can learn across the tasks when faced with a sequence of $N$ (similar) control tasks. Each task involves controlling a linear dynamical system…

This paper investigates poisoning attacks against data-driven control methods. This work is motivated by recent trends showing that, in supervised learning, slightly modifying the data in a malicious manner can drastically deteriorate the…

While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…

With the emergence of pretrained vision-language models (VLMs), considerable efforts have been devoted to fine-tuning them for downstream tasks. Despite the progress made in designing efficient fine-tuning methods, such methods require…

Model Predictive Control (MPC) is an enabling technology in applications requiring controlling physical processes in an optimized way under constraints on inputs and outputs. However, in MPC closed-loop performance is pushed to the limits…

Visual Prompt Tuning (VPT) has become a promising solution for Parameter-Efficient Fine-Tuning (PEFT) approach for Vision Transformer (ViT) models by partially fine-tuning learnable tokens while keeping most model parameters frozen. Recent…

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…

In many control systems, tracking accuracy can be enhanced by combining (data-driven) feedforward (FF) control with feedback (FB) control. However, designing effective data-driven FF controllers typically requires large amounts of…

Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…

This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Vision-Language-Action (VLA) models enable embodied decision-making but rely heavily on imitation learning, leading to compounding errors and poor robustness under distribution shift. Reinforcement learning (RL) can mitigate these issues…

The current modus operandi in adapting pre-trained models involves updating all the backbone parameters, ie, full fine-tuning. This paper introduces Visual Prompt Tuning (VPT) as an efficient and effective alternative to full fine-tuning…

For certain industrial control applications an explicit function capturing the nontrivial trade-off between competing objectives in closed loop performance is not available. In such scenarios it is common practice to use the human innate…

This paper develops an inherently parallelised, fast, approximate learning-based solution to the generic class of Capacitated Vehicle Routing Problems with Time Windows and Dynamic Routing (CVRP-TWDR). Considering vehicles in a fleet as…