相关论文: Semigroup Consistency as a Diagnostic for Learned …

Conformal prediction is a learning framework controlling prediction coverage of prediction sets, which can be built on any learning algorithm for point prediction. This work proposes a learning framework named conformal loss-controlling…

It is shown that an explicit oblique projection nonlinear feedback controller is able to stabilize semilinear parabolic equations, with time-dependent dynamics and with a polynomial nonlinearity. The actuators are typically modeled by a…

When we are interested in the long-term behaviour of solutions to linear evolution equations, a large variety of techniques from the theory of $C_0$-semigroups is at our disposal. However, if we consider for instance parabolic equations…

Semi-Supervised image classification is one of the most fundamental problem in computer vision, which significantly reduces the need for human labor. In this paper, we introduce a new semi-supervised learning algorithm - SimMatchV2, which…

Physical modeling of robotic system behavior is the foundation for controlling many robotic mechanisms to a satisfactory degree. Mechanisms are also typically designed in a way that good model accuracy can be achieved with relatively simple…

Autoregressive neural simulators now match classical solvers on short-horizon prediction of physical systems, yet their accuracy degrades rapidly when rolled out over long horizons. In this work, we identify transient amplification of…

Does progress in simulation translate to progress on robots? If one method outperforms another in simulation, how likely is that trend to hold in reality on a robot? We examine this question for embodied PointGoal navigation, developing…

Generalization analyses of deep learning typically assume that the training converges to a fixed point. But, recent results indicate that in practice, the weights of deep neural networks optimized with stochastic gradient descent often…

In this work, we propose a simple yet effective meta-learning algorithm in semi-supervised learning. We notice that most existing consistency-based approaches suffer from overfitting and limited model generalization ability, especially when…

We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…

While data augmentation is widely used to train symmetry-agnostic models, it remains unclear how quickly and effectively they learn to respect symmetries. We investigate this by deriving a principled measure of equivariance error that, for…

Robot decision-making increasingly relies on data-driven human prediction models when operating around people. While these models are known to mispredict in out-of-distribution interactions, only a subset of prediction errors impact…

We provide an algorithm for the simultaneous system identification and model predictive control of nonlinear systems. The algorithm has finite-time near-optimality guarantees and asymptotically converges to the optimal (non-causal)…

Model miscalibration has been frequently identified in modern deep neural networks. Recent work aims to improve model calibration directly through a differentiable calibration proxy. However, the calibration produced is often biased due to…

Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…

One of the major open problems in machine learning is to characterize generalization in the overparameterized regime, where most traditional generalization bounds become inconsistent even for overparameterized linear regression. In many…

Many machine learning tasks in the natural sciences are precisely equivariant to particular symmetries. Nonetheless, equivariant methods are often not employed, perhaps because training is perceived to be challenging, or the symmetry is…

Propagating input uncertainty through non-linear Gaussian process (GP) mappings is intractable. This hinders the task of training GPs using uncertain and partially observed inputs. In this paper we refer to this task as "semi-described…

Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…

Consistency regularization describes a class of approaches that have yielded ground breaking results in semi-supervised classification problems. Prior work has established the cluster assumption - under which the data distribution consists…