相关论文: Control Theoretic Approach to Fine-Tuning and Tran…

Disturbance observer-based control has shown promise in robustifying robotic systems against uncertainties. However, tuning such systems remains challenging due to the strong coupling between controller gains and observer parameters. In…

Diffusion-based image synthesis has attracted extensive attention recently. In particular, ControlNet that uses image-based prompts exhibits powerful capability in image tasks such as canny edge detection and generates images well aligned…

The massive amount of trainable parameters in the pre-trained language models (PLMs) makes them hard to be deployed to multiple downstream tasks. To address this issue, parameter-efficient transfer learning methods have been proposed to…

We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…

In class-incremental learning, the model is expected to learn new classes continually while maintaining knowledge on previous classes. The challenge here lies in preserving the model's ability to effectively represent prior classes in the…

As researchers teach robots to perform more and more complex tasks, the need for realistic simulation environments is growing. Existing techniques for closing the reality gap by approximating real-world physics often require extensive real…

Knowledge Distillation is an effective method to transfer the learning across deep neural networks. Typically, the dataset originally used for training the Teacher model is chosen as the "Transfer Set" to conduct the knowledge transfer to…

Despite the massive success of fine-tuning Pre-trained Language Models (PLMs), they remain susceptible to out-of-distribution input. Dataset cartography is a simple yet effective dual-model approach that improves the robustness of…

Unsupervised text style transfer aims to transfer the underlying style of text but keep its main content unchanged without parallel data. Most existing methods typically follow two steps: first separating the content from the original…

Adding Object into images based on text instructions is a challenging task in semantic image editing, requiring a balance between preserving the original scene and seamlessly integrating the new object in a fitting location. Despite…

Intermediate task fine-tuning has been shown to culminate in large transfer gains across many NLP tasks. With an abundance of candidate datasets as well as pre-trained language models, it has become infeasible to run the cross-product of…

Although pre-trained language models encode generic knowledge beneficial for planning and control, they may fail to generate appropriate control policies for domain-specific tasks. Existing fine-tuning methods use human feedback to address…

Ordinary supervised learning is useful when we have paired training data of input $X$ and output $Y$. However, such paired data can be difficult to collect in practice. In this paper, we consider the task of predicting $Y$ from $X$ when we…

Transfer learning is beneficial by allowing the expressive features of models pretrained on large-scale datasets to be finetuned for the target task of smaller, more domain-specific datasets. However, there is a concern that these…

Recent advancements in model-free deep reinforcement learning have enabled efficient agent training. However, challenges arise when determining the region of attraction for these controllers, especially if the region does not fully cover…

Existing research has shown that a multilingual pre-trained language model fine-tuned with one (source) language also performs well on downstream tasks for non-source languages, even though no fine-tuning is done on these languages.…

We develop a learning-based control algorithm for unknown dynamical systems under very severe data limitations. Specifically, the algorithm has access to streaming and noisy data only from a single and ongoing trial. It accomplishes such…

We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms so as to improve the exploration of the state-space, and substantially reduce learning times by leveraging some…

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…

Lack of specialized data makes building a multi-domain neural machine translation tool challenging. Although emerging literature dealing with low resource languages starts to show promising results, most state-of-the-art models used…