相关论文: Inverse Optimization Latent Variable Models for Le…

Scaling model-based inverse reinforcement learning (IRL) to real robotic manipulation tasks with unknown dynamics remains an open problem. The key challenges lie in learning good dynamics models, developing algorithms that scale to…

Despite the ubiquity of transportation data, methods to infer the state parameters of a network either ignore sensitivity of route decisions, require route enumeration for parameterizing descriptive models of route selection, or require…

Cost volume is an essential component of recent deep models for optical flow estimation and is usually constructed by calculating the inner product between two feature vectors. However, the standard inner product in the commonly-used cost…

We propose Intermediate Layer Optimization (ILO), a novel optimization algorithm for solving inverse problems with deep generative models. Instead of optimizing only over the initial latent code, we progressively change the input layer…

Offline reinforcement learning methods hold the promise of learning policies from pre-collected datasets without the need to query the environment for new transitions. This setting is particularly well-suited for continuous control robotic…

We present an iterative inverse reinforcement learning algorithm to infer optimal cost functions in continuous spaces. Based on a popular maximum entropy criteria, our approach iteratively finds a weight improvement step and proposes a…

Recently, the number of off-the-shelf Large Language Models (LLMs) has exploded with many open-source options. This creates a diverse landscape regarding both serving options (e.g., inference on local hardware vs remote LLM APIs) and model…

Representing a manifold of very high-dimensional data with generative models has been shown to be computationally efficient in practice. However, this requires that the data manifold admits a global parameterization. In order to represent…

In partially observable (PO) environments, deep reinforcement learning (RL) agents often suffer from unsatisfactory performance, since two problems need to be tackled together: how to extract information from the raw observations to solve…

Large language models (LLMs) have demonstrated remarkable proficiency in in-context learning (ICL), where models adapt to new tasks through example-based prompts without requiring parameter updates. However, understanding how tasks are…

This paper introduces a novel approach to efficiently feeding knowledge to language models (LLMs) during prediction by integrating retrieval and generation processes within a unified framework. While the Retrieval-Augmented Generation (RAG)…

The ever-increasing integration of stochastic renewable energy sources into power systems operation is making the supply-demand balance more challenging. While joint chance-constrained methods are equipped to model these complexities and…

Solving complex real-world control tasks often takes multiple tries: if we fail at first, we reflect on what went wrong, and change our strategy accordingly to avoid making the same mistake. In robotics, Vision-Language-Action models (VLAs)…

In this paper, we consider a formulation of nonlinear constrained optimization problems. We reformulate it as a time-varying optimization using continuous-time parametric functions and derive a dynamical system for tracking the optimal…

Inverse reinforcement learning (IRL) seeks to learn the reward function from expert trajectories, to understand the task for imitation or collaboration thereby removing the need for manual reward engineering. However, IRL in the context of…

It is customary to deploy uniform scalar quantization in the end-to-end optimized Neural image compression methods, instead of more powerful vector quantization, due to the high complexity of the latter. Lattice vector quantization (LVQ),…

Large language models (LLMs) based on Transformer Decoders have become the preferred choice for conversational generative AI. Despite the overall superiority of the Decoder architecture, the gradually increasing Key-Value (KV) cache during…

Inverse optimization (IO) aims to determine optimization model parameters from observed decisions. However, IO is not part of a data scientist's toolkit in practice, especially as many general-purpose machine learning packages are widely…

This paper introduces an efficient Vision-Language Model (VLM) pipeline specifically optimized for deployment on embedded devices, such as those used in robotics and autonomous driving. The pipeline significantly reduces the computational…

An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…