相关论文: Directionality-Aware Mixture Model Parallel Sampli…

In this paper we propose a new class of Dynamic Mixture Models (DAMMs) being able to sequentially adapt the mixture components as well as the mixture composition using information coming from the data. The information driven nature of the…

Dynamical System (DS) based Learning from Demonstration (LfD) allows learning of reactive motion policies with stability and convergence guarantees from a few trajectories. Yet, current DS learning techniques lack the flexibility to…

We present a parameter-efficient method for continual video question-answering (VidQA) learning. Our method, named DAM, uses the proposed Dynamic Adapter Merging to (i) mitigate catastrophic forgetting, (ii) enable efficient adaptation to…

The goal of video anomaly detection is tantamount to performing spatio-temporal localization of abnormal events in the video. The multiscale temporal dependencies, visual-semantic heterogeneity, and the scarcity of labeled data exhibited by…

We present Diversity-Aware Meta Visual Prompting~(DAM-VP), an efficient and effective prompting method for transferring pre-trained models to downstream tasks with frozen backbone. A challenging issue in visual prompting is that image…

We study the problem of learning a mixture of multiple linear dynamical systems (LDSs) from unlabeled short sample trajectories, each generated by one of the LDS models. Despite the wide applicability of mixture models for time-series data,…

Linear Parameter Varying (LPV) Systems are a well-established class of nonlinear systems with a rich theory for stability analysis, control, and analytical response finding, among other aspects. Although there are works on data-driven…

This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable framework for generating collision-free, dynamically…

Millimeter-wave vehicular networks incur enormous beam-training overhead to enable narrow-beam communications. This paper proposes a learning and adaptation framework in which the dynamics of the communication beams are learned and then…

Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

This paper proposes Mode-Aware Probabilistic Scheduling (MAPS), a novel adaptive control framework tailored for DC motor systems experiencing varying friction. MAPS uniquely integrates an Interacting Multiple Model (IMM) estimator with a…

The Gaussian Process Latent Variable Model (GP-LVM) is a non-linear probabilistic method of embedding a high dimensional dataset in terms low dimensional `latent' variables. In this paper we illustrate that maximum a posteriori (MAP)…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…

Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose the Adaptive Dynamic Modality Diffusion…

DAMON leverages manifold learning and variational autoencoding to achieve obstacle avoidance, allowing for motion planning through adaptive graph traversal in a pre-learned low-dimensional hierarchically-structured manifold graph that…

We develop a data-driven framework for learning and correcting non-autonomous vehicle dynamics. Physics-based vehicle models are often simplified for tractability and therefore exhibit inherent model-form uncertainty, motivating the need…

Learning a stable Linear Dynamical System (LDS) from data involves creating models that both minimize reconstruction error and enforce stability of the learned representation. We propose a novel algorithm for learning stable LDSs. Using a…

Many complex dynamical phenomena can be effectively modeled by a system that switches among a set of conditionally linear dynamical modes. We consider two such models: the switching linear dynamical system (SLDS) and the switching vector…

We propose the Multi-Head Density Adaptive Attention Mechanism (DAAM), a novel probabilistic attention framework that can be used for Parameter-Efficient Fine-tuning (PEFT), and the Density Adaptive Transformer (DAT), designed to enhance…