相关论文: ZORMS-LfD: Learning from Demonstrations with Zerot…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

As application demands for zeroth-order (gradient-free) optimization accelerate, the need for variance reduced and faster converging approaches is also intensifying. This paper addresses these challenges by presenting: a) a comprehensive…

Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…

Parameter-efficient fine-tuning (PEFT) significantly reduces memory costs when adapting large language models (LLMs) for downstream applications. However, traditional first-order (FO) fine-tuning algorithms incur substantial memory overhead…

We study a class of zeroth-order distributed optimization problems, where each agent can control a partial vector and observe a local cost that depends on the joint vector of all agents, and the agents can communicate with each other with…

Traditional reduced order modeling techniques such as the reduced basis (RB) method (relying, e.g., on proper orthogonal decomposition (POD)) suffer from severe limitations when dealing with nonlinear time-dependent parametrized PDEs,…

Most current methods for learning from demonstrations assume that those demonstrations alone are sufficient to learn the underlying task. This is often untrue, especially if extra safety specifications exist which were not present in the…

Zeroth-order (ZO) optimization is popular in real-world applications that accessing the gradient information is expensive or unavailable. Recently, adaptive ZO methods that normalize gradient estimators by the empirical standard deviation…

Zero-shot in-context learning (ZS-ICL) aims to conduct in-context learning (ICL) without using human-annotated demonstrations. Most ZS-ICL methods use large language models (LLMs) to generate (input, label) pairs as pseudo-demonstrations…

Fine-tuning language models (LMs) has demonstrated success in a wide array of downstream tasks. However, as LMs are scaled up, the memory requirements for backpropagation become prohibitively high. Zeroth-order (ZO) optimization methods can…

A non-intrusive reduced order model based on convolutional autoencoders (NIROM-CAEs) is proposed as a data-driven tool to build an efficient nonlinear reduced-order model for stochastic spatio-temporal large-scale physical problems. The…

Federated learning enables collaborative model training across numerous edge devices without requiring participants to share data; however, memory and communication constraints on these edge devices may preclude their participation in…

Zeroth-order methods have become important tools for solving problems where we have access only to function evaluations. However, the zeroth-order methods only using gradient approximations are $n$ times slower than classical first-order…

The goal of programmatic Learning from Demonstration (LfD) is to learn a policy in a programming language that can be used to control a robot's behavior from a set of user demonstrations. This paper presents a new programmatic LfD algorithm…

Large Language Models (LLMs) have demonstrated remarkable improvements in reasoning and planning through increased test-time compute, often by framing problem-solving as a search process. While methods like Monte Carlo Tree Search (MCTS)…

Distributed optimization is the standard way of speeding up machine learning training, and most of the research in the area focuses on distributed first-order, gradient-based methods. Yet, there are settings where some…

Model order reduction (MOR) involves offering low-dimensional models that effectively approximate the behavior of complex high-order systems. Due to potential model complexities and computational costs, designing controllers for…

First-order methods for solving convex optimization problems have been at the forefront of mathematical optimization in the last 20 years. The rapid development of this important class of algorithms is motivated by the success stories…

Gradient-based methods enable efficient search capabilities in high dimensions. However, in order to apply them effectively in offline optimization paradigms such as offline Reinforcement Learning (RL) or Imitation Learning (IL), we require…

Reduced order modeling lowers the computational cost of solving PDEs by learning a low-order spatial representation from data and dynamically evolving these representations using manifold projections of the governing equations. While…