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Meta-Reinforcement Learning (Meta-RL) aims to acquire meta-knowledge for quick adaptation to diverse tasks. However, applying these policies in real-world environments presents a significant challenge in balancing rapid adaptability with…

Model Agnostic Meta Learning or MAML has become the standard for few-shot learning as a meta-learning problem. MAML is simple and can be applied to any model, as its name suggests. However, it often suffers from instability and…

Deep neural state-space models (SSMs) provide a powerful tool for modeling dynamical systems solely using operational data. Typically, neural SSMs are trained using data collected from the actual system under consideration, despite the…

Machine learning methods adapt the parameters of a model, constrained to lie in a given model class, by using a fixed learning procedure based on data or active observations. Adaptation is done on a per-task basis, and retraining is needed…

In this paper, we address the problem of reference tracking for uncertain nonlinear systems. Since collecting data from the target system (i.e., the system of interest) is often challenging, our objective is to design optimal controllers…

Model-agnostic meta-learning (MAML) is a meta-learning technique to train a model on a multitude of learning tasks in a way that primes the model for few-shot learning of new tasks. The MAML algorithm performs well on few-shot learning…

Neural networks require a large amount of annotated data to learn. Meta-learning algorithms propose a way to decrease the number of training samples to only a few. One of the most prominent optimization-based meta-learning algorithms is…

Data availability has dramatically increased in recent years, driving model-based control methods to exploit learning techniques for improving the system description, and thus control performance. Two key factors that hinder the practical…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

We propose meta-curvature (MC), a framework to learn curvature information for better generalization and fast model adaptation. MC expands on the model-agnostic meta-learner (MAML) by learning to transform the gradients in the inner…

Theoretical computation of cosmological observables is an intensive process, restricting the speed at which cosmological data can be analysed and cosmological models constrained, and therefore limiting research access to those with high…

Deep learning models require a large amount of data to perform well. When data is scarce for a target task, we can transfer the knowledge gained by training on similar tasks to quickly learn the target. A successful approach is…

The capacity of meta-learning algorithms to quickly adapt to a variety of tasks, including ones they did not experience during meta-training, has been a key factor in the recent success of these methods on few-shot learning problems. This…

In this paper, we consider the problem of reference tracking in uncertain nonlinear systems. A neural State-Space Model (NSSM) is used to approximate the nonlinear system, where a deep encoder network learns the nonlinearity from data, and…

Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…

The control of nonlinear systems with unknown dynamics has been a significant field of research for many years. This paper presents a novel data-driven optimal adaptive control structure with less control effort and faster adaptation than…

Meta Reinforcement Learning (MRL) enables an agent to learn from a limited number of past trajectories and extrapolate to a new task. In this paper, we attempt to improve the robustness of MRL. We build upon model-agnostic meta-learning…

Faults are endemic to all systems. Adaptive fault-tolerant control maintains degraded performance when faults occur as opposed to unsafe conditions or catastrophic events. In systems with abrupt faults and strict time constraints, it is…

Meta Learning has been in focus in recent years due to the meta-learner model's ability to adapt well and generalize to new tasks, thus, reducing both the time and data requirements for learning. However, a major drawback of meta learner is…

Model-Agnostic Meta-Learning (MAML) is one of the most successful meta-learning techniques for few-shot learning. It uses gradient descent to learn commonalities between various tasks, enabling the model to learn the meta-initialization of…