相关论文: A Sliced Learning Framework for Online Disturbance…

Quadrotor stability under complex dynamic disturbances and model uncertainties poses significant challenges. One of them remains the underfitting problem in high-dimensional features, which limits the identification capability of current…

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…

This paper introduces an adaptive-neuro identification method that enhances the robustness of a centralized multi-quadrotor transportation system. This method leverages online tuning and learning on decomposed error subspaces, enabling…

The forthcoming 6G networks will embrace a new realm of AI-driven services that requires innovative network slicing strategies, namely slicing for AI, which involves the creation of customized network slices to meet Quality of service (QoS)…

We propose an online learning algorithm for a class of machine learning models under a separable stochastic approximation framework. The essence of our idea lies in the observation that certain parameters in the models are easier to…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

This paper represents a novel online self-learning disturbance observer (SLDO) by benefiting from the combination of a type-2 neuro-fuzzy structure (T2NFS), feedback-error learning scheme and sliding mode control (SMC) theory. The SLDO is…

Artificial neural network training with stochastic gradient descent can be destabilized by "bad batches" with high losses. This is often problematic for training with small batch sizes, high order loss functions or unstably high learning…

The problem of identifying geometric structure in data is a cornerstone of (unsupervised) learning. As a result, Geometric Representation Learning has been widely applied across scientific and engineering domains. In this work, we…

We present Online3R, a new sequential reconstruction framework that is capable of adapting to new scenes through online learning, effectively resolving inconsistency issues. Specifically, we introduce a set of learnable lightweight visual…

This article discusses a newly developed online manifold learning method, subspace iteration using reduced models (SIRM), for the dimensionality reduction of dynamical systems. This method may be viewed as subspace iteration combined with a…

Recently, self-supervised learning (SSL) methods have been used in pre-training the segmentation models for 2D and 3D medical images. Most of these methods are based on reconstruction, contrastive learning and consistency regularization.…

In this paper, we introduce a novel self-supervised learning (SSL) loss for image representation learning. There is a growing belief that generalization in deep neural networks is linked to their ability to discriminate object shapes. Since…

This paper presents a novel Sliding Mode Control (SMC) algorithm to handle mismatched uncertainties in systems via a novel Self-Learning Disturbance Observer (SLDO). A computationally efficient SLDO is developed within a framework of…

In medical imaging, scans often reveal objects with varied contrasts but consistent internal intensities or textures. This characteristic enables the use of low-frequency approximations for tasks such as segmentation and deformation field…

Recent breakthroughs in neuromorphic computing show that local forms of gradient descent learning are compatible with Spiking Neural Networks (SNNs) and synaptic plasticity. Although SNNs can be scalably implemented using neuromorphic VLSI,…

Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, by exploiting data patterns to bypass the difficulty of optimizing over discrete contacts and the…

Network slicing allows mobile network operators to virtualize infrastructures and provide customized slices for supporting various use cases with heterogeneous requirements. Online deep reinforcement learning (DRL) has shown promising…

Metric learning aims to embed one metric space into another to benefit tasks like classification and clustering. Although a greatly distorted metric space has a high degree of freedom to fit training data, it is prone to overfitting and…

It is well known that vision classification models suffer from poor calibration in the face of data distribution shifts. In this paper, we take a geometric approach to this problem. We propose Geometric Sensitivity Decomposition (GSD) which…