相关论文: Multimodal Learning of Soft Robot Dynamics using D…

A fairly reliable trend in deep reinforcement learning is that the performance scales with the number of parameters, provided a complimentary scaling in amount of training data. As the appetite for large models increases, it is imperative…

Multimodal learning has been lacking principled ways of combining information from different modalities and learning a low-dimensional manifold of meaningful representations. We study multimodal learning and sensor fusion from a latent…

We consider a federated learning (FL) system consisting of multiple clients and a server, where the clients aim to collaboratively learn a common decision model from their distributed data. Unlike the conventional FL framework that assumes…

Federated Learning (FL) is a promising machine learning paradigm that enables participating devices to train privacy-preserved and collaborative models. FL has proven its benefits for robotic manipulation tasks. However, grasping tasks lack…

In the field of autonomous Unmanned Aerial Vehicles (UAVs) landing, conventional approaches fall short in delivering not only the required precision but also the resilience against environmental disturbances. Yet, learning-based algorithms…

State estimation is an important aspect in many robotics applications. In this work, we consider the task of obtaining accurate state estimates for robotic systems by enhancing the dynamics model used in state estimation algorithms.…

Decision-Focused Learning (DFL) is a paradigm for tailoring a predictive model to a downstream optimization task that uses its predictions in order to perform better on that specific task. The main technical challenge associated with DFL is…

Several recent studies have demonstrated the promise of deep visuomotor policies for robot manipulator control. Despite impressive progress, these systems are known to be vulnerable to physical disturbances, such as accidental or…

Random forest is widely exploited as an ensemble learning method. In many practical applications, however, there is still a significant challenge to learn from imbalanced data. To alleviate this limitation, we propose a deep dynamic boosted…

Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting their applicability in non-prehensile tasks. To address this…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

Multimodal learning has seen great success mining data features from multiple modalities with remarkable model performance improvement. Meanwhile, federated learning (FL) addresses the data sharing problem, enabling privacy-preserved…

The accurate segmentation of medical images is crucial for diagnosing and treating diseases. Recent studies demonstrate that vision transformer-based methods have significantly improved performance in medical image segmentation, primarily…

As AI becomes a native component of 6G network control, AI models must adapt to continuously changing conditions, including the introduction of new features and measurements driven by multi-vendor deployments, hardware upgrades, and…

Supervised fine-tuning (SFT) is fundamental to adapting large language models, yet training on complete datasets incurs prohibitive costs with diminishing returns. Existing data selection methods suffer from severe domain specificity:…

In this letter, we investigate learning forward dynamics models and multi-step prediction of state variables (long-term prediction) for contact-rich manipulation. The problems are formulated in the context of model-based reinforcement…

This work proposes a training algorithm based on adaptive random Fourier features (ARFF) with Metropolis sampling and resampling \cite{kammonen2024adaptiverandomfourierfeatures} for learning drift and diffusion components of stochastic…

The Web is naturally heterogeneous with user devices, geographic regions, browsing patterns, and contexts all leading to highly diverse, unique datasets. Federated Learning (FL) is an important paradigm for the Web because it enables…

Differentiable particle filters are an emerging class of sequential Bayesian inference techniques that use neural networks to construct components in state space models. Existing approaches are mostly based on offline supervised training…

To support humans in their daily lives, robots are required to autonomously learn, adapt to objects and environments, and perform the appropriate actions. We tackled on the task of cooking scrambled eggs using real ingredients, in which the…