相关论文: TAG-K: Tail-Averaged Greedy Kaczmarz for Computati…

The randomized Kaczmarz (RK) method is an iterative method for approximating the least-squares solution of large linear systems of equations. The standard RK method uses sequential updates, making parallel computation difficult. Here, we…

In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…

Reasoning in a temporal knowledge graph (TKG) is a critical task for information retrieval and semantic search. It is particularly challenging when the TKG is updated frequently. The model has to adapt to changes in the TKG for efficient…

This work presents Kinodynamic Adaptive Robot Coordination (K-ARC), a novel algorithm for multi-robot kinodynamic planning. Our experimental results show the capability of K-ARC to plan for up to 32 planar mobile robots, while achieving up…

We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…

The randomized Kaczmarz methods are a popular and effective family of iterative methods for solving large-scale linear systems of equations, which have also been applied to linear feasibility problems. In this work, we propose a new block…

The increasing complexity of large language models (LLMs) necessitates efficient training strategies to mitigate the high computational costs associated with distributed training. A significant bottleneck in this process is gradient…

We study multi-robot persistent monitoring on weighted graphs, where node weights encode monitoring priorities and edge weights encode travel distances. The goal is to design joint robot trajectories that minimize the worst-case weighted…

Retrieval-Augmented Generation (RAG) has emerged as a powerful approach for enhancing large language models' question-answering capabilities through the integration of external knowledge. However, when adapting RAG systems to specialized…

In this paper, we introduce the Adaptive Inertial Method (AIM), a novel framework for accelerated first-order methods through a customizable inertial term. We provide a rigorous convergence analysis establishing a global convergence rate of…

Large-scale linear systems of the form $Ax=b$ are often doubly-noisy, in the sense that both its measurement matrix $A$ and measurement vector $b$ are noisy. In this paper, we extend the relaxed greedy randomized Kaczmarz (RGRK) method to…

This paper presents extensions of finite-time stability results to some prototypical adaptive control and estimation frameworks. First, we present a novel scheme of online parameter estimation that guarantees convergence of the estimation…

We study linear contextual bandits under adversarial corruption and heavy-tailed noise with finite $(1+\epsilon)$-th moments for some $\epsilon \in (0,1]$. Existing work that addresses both adversarial corruption and heavy-tailed noise…

Class-incremental learning is dedicated to the development of deep learning models that are capable of acquiring new knowledge while retaining previously learned information. Most methods focus on balanced data distribution for each task,…

Maintaining predictive accuracy in non-stationary environments requires online model selection to adapt autonomously to unknown distribution shifts. However, existing tuning-free algorithms face a fundamental trade-off between robustness…

The Kaczmarz method is an iterative algorithm for solving systems of linear equations Ax=b. Theoretical convergence rates for this algorithm were largely unknown until recently when work was done on a randomized version of the algorithm. It…

Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based Parametric models with unstructured Non-Parametric…

Imitation learning algorithms learn viable policies by imitating an expert's behavior when reward signals are not available. Generative Adversarial Imitation Learning (GAIL) is a state-of-the-art algorithm for learning policies when the…

Motivated by online decision-making in time-varying combinatorial environments, we study the problem of transforming offline algorithms to their online counterparts. We focus on offline combinatorial problems that are amenable to a constant…

In many applications, retrieval-augmented generation (RAG) drives tool use and function calling by embedding the (user) queries and matching them to pre-specified tool/function descriptions. In this paper, we address an embedding…