相关论文: Learning-based Attitude Estimation with Noisy Meas…

Because of physical assumptions and numerical approximations, low-order models are affected by uncertainties in the state and parameters, and by model biases. Model biases, also known as model errors or systematic errors, are difficult to…

We present a data-efficient reinforcement learning algorithm resistant to observation noise. Our method extends the highly data-efficient PILCO algorithm (Deisenroth & Rasmussen, 2011) into partially observed Markov decision processes…

We study risk-sensitive reinforcement learning (RL) based on an entropic risk measure in episodic non-stationary Markov decision processes (MDPs). Both the reward functions and the state transition kernels are unknown and allowed to vary…

Consider the task of estimating a 3-order $n \times n \times n$ tensor from noisy observations of randomly chosen entries in the sparse regime. We introduce a similarity based collaborative filtering algorithm for estimating a tensor from…

Deep Reinforcement Learning (DRL) policies have been shown to be vulnerable to small adversarial noise in observations. Such adversarial noise can have disastrous consequences in safety-critical environments. For instance, a self-driving…

Cost-sensitive learning is a common type of machine learning problem where different errors of prediction incur different costs. In this paper, we design a generic nonparametric active learning algorithm for cost-sensitive classification.…

This paper addresses state estimation of linear systems with special attention on unknown process and measurement noise covariances, aiming to enhance estimation accuracy while preserving the stability guarantee of the Kalman filter. To…

Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…

Conversion objectives in large-scale recommender systems are sparse, making them difficult to optimize. Generative recommendation (GR) partially alleviates data sparsity by organizing multi-type behaviors into a unified token sequence with…

Automated patent claim validation demands low error tolerance. However, existing approaches face a rigidity-resource dilemma: lightweight encoders cannot track long-range legal dependencies, while exhaustive LLM verification incurs 4-5X…

Category imbalance is one of the most popular and important issues in the domain of classification. Emotion classification model trained on imbalanced datasets easily leads to unreliable prediction. The traditional machine learning method…

Velocity estimation is of great importance in autonomous racing. Still, existing solutions are characterized by limited accuracy, especially in the case of aggressive driving or poor generalization to unseen road conditions. To address…

We consider the problem of learning the behavioral preferences of an expert engaged in a task from noisy and partially-observable demonstrations. This is motivated by real-world applications such as a line robot learning from observing a…

Learning systems deployed in nonstationary and safety-critical environments often suffer from instability, slow convergence, or brittle adaptation when learning dynamics evolve over time. While modern optimization, reinforcement learning,…

Auto-encoder is a special kind of neural network based on reconstruction. De-noising auto-encoder (DAE) is an improved auto-encoder which is robust to the input by corrupting the original data first and then reconstructing the original…

Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations, or abrupt shifts, demanding real-time…

We consider estimation and control in linear time-varying dynamical systems from the perspective of regret minimization. Unlike most prior work in this area, we focus on the problem of designing causal estimators and controllers which…

Human-robot interaction relies on a noise-robust audio processing module capable of estimating target speech from audio recordings impacted by environmental noise, as well as self-induced noise, so-called ego-noise. While external ambient…

Action and observation delays commonly occur in many Reinforcement Learning applications, such as remote control scenarios. We study the anatomy of randomly delayed environments, and show that partially resampling trajectory fragments in…

Process Reward Models (PRMs) have achieved strong results in complex reasoning, but are bottlenecked by costly process-level supervision. A widely used alternative, Monte Carlo Estimation (MCE), defines process rewards as the probability…