相关论文: An Interpretable Neural Control Network with Adapt…

Model-Agnostic Meta-Learning (MAML) and its variants have achieved success in meta-learning tasks on many datasets and settings. On the other hand, we have just started to understand and analyze how they are able to adapt fast to new tasks.…

Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…

We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM). Conventional iterative approaches linearize a highly…

Transformer models have achieved superior performance in various natural language processing tasks. However, the quadratic computational cost of the attention mechanism limits its practicality for long sequences. There are existing…

In artificial neural networks, learning from data is a computationally demanding task in which a large number of connection weights are iteratively tuned through stochastic-gradient-based heuristic processes over a cost-function. It is not…

Developed to alleviate prohibitive labeling costs, active learning (AL) methods aim to reduce label complexity in supervised learning. While recent work has demonstrated the benefit of using AL in combination with large pre-trained language…

Non-autoregressive machine translation models significantly speed up decoding by allowing for parallel prediction of the entire target sequence. However, modeling word order is more challenging due to the lack of autoregressive factors in…

Learning weights in a spiking neural network with hidden neurons, using local, stable and online rules, to control non-linear body dynamics is an open problem. Here, we employ a supervised scheme, Feedback-based Online Local Learning Of…

Healthcare robotics requires robust multimodal perception and reasoning to ensure safety in dynamic clinical environments. Current Vision-Language Models (VLMs) demonstrate strong general-purpose capabilities but remain limited in temporal…

Unsupervised anomaly detection aims to build models to effectively detect unseen anomalies by only training on the normal data. Although previous reconstruction-based methods have made fruitful progress, their generalization ability is…

A framework previously introduced in [3] for solving a sequence of stochastic optimization problems with bounded changes in the minimizers is extended and applied to machine learning problems such as regression and classification. The…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

Accurate and efficient 3D medical image segmentation is essential for clinical AI, where models must remain reliable under stringent memory, latency, and data availability constraints. Transformer-based methods achieve strong accuracy but…

This work proposes Autonomous Iterative Motion Learning (AI-MOLE), a method that enables systems with unknown, nonlinear dynamics to autonomously learn to solve reference tracking tasks. The method iteratively applies an input trajectory to…

Spiking Neural Networks (SNNs) have recently gained popularity as machine learning models for on-device edge intelligence for applications such as mobile healthcare management and natural language processing due to their low power profile.…

Accurate cancer survival prediction requires integration of diverse data modalities that reflect the complex interplay between imaging, clinical parameters, and textual reports. However, existing multimodal approaches suffer from simplistic…

Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…

Recent efforts in Machine Learning (ML) interpretability have focused on creating methods for explaining black-box ML models. However, these methods rely on the assumption that simple approximations, such as linear models or decision-trees,…

Model-agnostic meta-learning (MAML) is a well-known optimization-based meta-learning algorithm that works well in various computer vision tasks, e.g., few-shot classification. MAML is to learn an initialization so that a model can adapt to…

Humanoid soccer dribbling is a highly challenging task that demands dexterous ball manipulation while maintaining dynamic balance. Traditional rule-based methods often struggle to achieve accurate ball control due to their reliance on fixed…