相关论文: Bridging Abstraction-Based Hierarchical Control an…

Synthetic Control Methods (SCMs) have become a fundamental tool for comparative case studies. The core idea behind SCMs is to estimate treatment effects by predicting counterfactual outcomes for a treated unit using a weighted combination…

Test-time computation has become a primary driver of progress in large language model (LLM) reasoning, but it is increasingly bottlenecked by expensive verification. In many reasoning systems, a large fraction of verifier calls are spent on…

Sequential decision making techniques hold great promise to improve the performance of many real-world systems, but computational complexity hampers their principled application. Influence-based abstraction aims to gain leverage by modeling…

Designing controllers to satisfy temporal requirements has proven to be challenging for dynamical systems that are affected by uncertainty. This is mainly due to the states evolving in a continuous uncountable space, the stochastic…

We present novel results on the solution of a class of leavable, undiscounted optimal control problems in the minimax sense for nonlinear, continuous-state, discrete-time plants. The problem class includes entry-(exit-)time problems as well…

This simple note lays out a few observations which are well known in many ways but may not have been said in quite this way before. The basic idea is that when comparing two different Markov chains it is useful to couple them is such a way…

Metric-based meta-learning techniques have successfully been applied to few-shot classification problems. In this paper, we propose to leverage cross-modal information to enhance metric-based few-shot learning methods. Visual and semantic…

Hierarchical clustering is a popular unsupervised data analysis method. For many real-world applications, we would like to exploit prior information about the data that imposes constraints on the clustering hierarchy, and is not captured by…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

Contact processes describe the transmission of distinct properties of nodes via the links of a network. They provide a simple framework for many phenomena, such as epidemic spreading and opinion formation. Combining contact processes with…

This paper presents an abstraction-refinement method to synthesize control inputs for a discrete-time piecewise linear system. The controlled system behavior satisfies a finite-word linear-time temporal objective while incurring minimal…

Certification for machine learning is proving that no adversarial sample can evade a model within a range under certain conditions, a necessity for safety-critical domains. Common certification methods for segmentation use a flat set of…

The consensus strategies used in collaborative multi-agent systems (MAS) face notable challenges related to adaptability, scalability, and convergence certainties. These approaches, including structured workflows, debate models, and…

Effective generalization in robotic manipulation requires representations that capture invariant patterns of interaction across environments and tasks. We present a self-supervised framework for learning hierarchical manipulation concepts…

Abstract Meaning Representation (AMR) parsing aims to translate sentences to semantic representation with a hierarchical structure, and is recently empowered by pretrained sequence-to-sequence models. However, there exists a gap between…

Today's control systems are often characterized by modularity and safety requirements to handle complexity, resulting in hierarchical control structures. Although hierarchical model predictive control offers favorable properties, achieving…

Spectral methods of moments provide a powerful tool for learning the parameters of latent variable models. Despite their theoretical appeal, the applicability of these methods to real data is still limited due to a lack of robustness to…

Model predictive control (MPC) with learned world models has emerged as a promising paradigm for embodied control, particularly for its ability to generalize zero-shot when deployed in new environments. However, learned world models often…

This paper focuses on forecasting hierarchical time-series data, where each higher-level observation equals the sum of its corresponding lower-level time series. In such contexts, the forecast values should be coherent, meaning that the…

This paper proposes a new methodology to automatically build semantic hierarchies suitable for image annotation and classification. The building of the hierarchy is based on a new measure of semantic similarity. The proposed measure…