Unified framework for imitating tasks across domains with discrepancies.
problem Learning tasks across domains with embodiment, viewpoint, and dynamics mismatches.
method Two-step approach: alignment followed by adaptation. Alignment uses Generative Adversarial MDP Alignment (GAMA) for state and action correspondences from unpaired, unaligned demonstrations. Adaptation leverages these correspondences for zero-shot imitation.
result Effectiveness of the proposed approach in embodiment, viewpoint, and dynamics mismatch scenarios.
Study how actions affect perception in embodied agents using group theory.
problem Understanding how actions influence perception in autonomous agents.
method Mathematical formalism of group theory applied to sensory commutativity of action sequences.
result Introduced Sensory Commutativity Probability (SCP) to measure action effects on perception.
Generative Multisensory Network learns 3D scene representations from multiple modalities.
problem Learning robust 3D scene representations from multiple sensory modalities.
method Amortized Product-of-Experts for efficient inference and cross-modal generation.
result The model can infer modality-invariant 3D scene representations efficiently from various sensory modalities.
Reinforcement learning for embodied agents is a challenging problem. The accumulated reward to be optimized is often a very rugged function, and gradient methods are impaired by many local optimizers. We demonstrate, in an experimental setting, that incorporating an intrinsic reward can smoothen the optimization landsc…
This paper proposes a new method to connect language and physical actions in reinforcement learning.
problem Connecting linguistic representations to the physical world in embodied agents.
method Language-conditioned goal generators to decouple sensorimotor learning from language acquisition.
result Agents can demonstrate a diversity of behaviors for any given instruction.
New metric solves correspondence problem for robotic arm imitation learning.
problem Establishing corresponding states and actions between different robotic arms.
method Introducing a distance measure between dissimilar robotic arms and using it as a loss function.
result The distance measure effectively learns imitation policies by minimizing distance between robotic arms.
New algorithm reduces performance loss in IRL with mismatched transition dynamics.
problem Performance degradation in inverse reinforcement learning due to mismatched transition dynamics.
method Proposed a robust Maximum Causal Entropy (MCE) IRL algorithm leveraging robust reinforcement learning insights.
result Empirically demonstrated stable performance improvement under transition dynamics mismatches.
EDGI improves sample efficiency and generalization in tasks with spatial and temporal symmetries.
problem Sample inefficiency and poor generalization in tasks with geometric symmetries.
method Equivariant Diffuser framework, SE(3)xZxSn-equivariant diffusion model.
result EDGI is more sample efficient and generalizes better than non-equivariant models.
This paper considers the classification of linear subspaces with mismatched classifiers. In particular, we assume a model where one observes signals in the presence of isotropic Gaussian noise and the distribution of the signals conditioned on a given class is Gaussian with a zero mean and a low-rank covariance matrix.…
Framework improves CATE estimation by aligning active learning with causal objectives.
problem High cost of outcome measurements limits CATE estimation.
method Causal-EPIG framework, targeting unobservable causal quantities.
result Strategies outperform standard baselines, revealing context-dependent optimal approaches.
Embodied cognition states that semantics is encoded in the brain as firing patterns of neural circuits, which are learned according to the statistical structure of human multimodal experience. However, each human brain is idiosyncratically biased, according to its subjective experience history, making this biological s…
The paper addresses score-mismatched diffusion models and zero-shot conditional samplers.
problem Theoretical guarantees for score-mismatched diffusion models in zero-shot conditional sampling.
method Theoretical analysis of score-mismatched diffusion models and zero-shot conditional samplers.
result Theoretical performance guarantees with explicit dimensional dependencies for score-mismatched diffusion samplers.
VALAN is a framework for navigation agents in photo-realistic environments.
problem Developing agents for indoor navigation tasks.
method Deep reinforcement learning with SEED RL architecture.
result VALAN framework can solve a variety of RL problems.
Paper identifies objective mismatch in MBRL, affecting control task performance.
problem Objective mismatch in MBRL framework affects control task performance.
method Proposes re-weighting dynamics model training to mitigate mismatch.
result Likelihood of one-step ahead predictions is not always correlated with control performance.
New approach categorizes objective functions for embodied agents.
problem Understanding how objectives relate to each other and discovering new objectives.
method Introducing Action Perception Divergence (APD) to categorize objective functions.
result Introduces a spectrum of objectives from narrow to general, explaining various unsupervised objectives.
BinaryDuo improves BNNs by coupling binary activations, outperforming state-of-the-art models.
problem Gradient mismatch in BNNs due to binarizing activations.
method Using gradient of smoothed loss function to estimate gradient mismatch, proposing BinaryDuo scheme with coupled ternary activations.
result BinaryDuo outperforms state-of-the-art BNNs on various benchmarks.
Thompson Sampling shows polynomial regret for combinatorial semi-bandits with subgaussian rewards.
problem Finding optimal solutions in combinatorial semi-bandits with suboptimal sampling.
method Proposes Thompson Sampling with polynomial regret for linear combinatorial semi-bandits.
result Demonstrates 'mismatched sampling paradox' where knowing distributions can lead to worse performance.
Recent efforts on training visual navigation agents conditioned on language using deep reinforcement learning have been successful in learning policies for different multimodal tasks, such as semantic goal navigation and embodied question answering. In this paper, we propose a multitask model capable of jointly learnin…
New method addresses error bounds for PnP-ULA under mismatched models.
problem Error bounds for PnP-ULA under mismatched measurement and prior models.
method Posterior-L2 pseudometric to quantify error bounds.
result Explicit error bound for PnP-ULA under mismatched posterior distribution.
Paper addresses linear regression with partially mismatched data using local search with theoretical guarantees.
problem Linear regression with partially mismatched data.
method Optimization formulation and greedy local search algorithm with theoretical guarantees.
result Local search algorithm converges to nearly-optimal solution at a linear rate under certain conditions.
PACMAN provides bounds for classification tasks considering accuracy vs. negative log-loss mismatch.
problem Mismatch between accuracy and negative log-loss in classification tasks.
method Point-wise PAC approach over generalization gap, using likelihood ratio and concentration inequalities.
result PACMAN provides point-wise PAC bounds for the generalization problem.
Study on LMMSE estimation with model mismatch, quantifying MSE trade-offs.
problem Model mismatch in LMMSE estimation with undermodeling.
method Analyzing the average MSE of LMMSE estimation with random regressors.
result Performance improvement depends on sufficient samples and model complexity.
Current approaches for Knowledge Distillation (KD) either directly use training data or sample from the training data distribution. In this paper, we demonstrate effectiveness of 'mismatched' unlabeled stimulus to perform KD for image classification networks. For illustration, we consider scenarios where this is a comp…
Paper proposes a method to handle linear regression with partially shuffled data.
problem Linear regression with mismatched predictors and responses.
method Pseudo-likelihood approach based on two-component mixture densities with EM optimization.
result The method can tolerate larger fractions of mismatches and estimate noise level.
Supervised learning based on a deep neural network recently has achieved substantial improvement on speech enhancement. Denoising networks learn mapping from noisy speech to clean one directly, or to a spectrum mask which is the ratio between clean and noisy spectra. In either case, the network is optimized by minimizi…
Ensemble models improve prediction calibration for mismatched distributions.
problem Calibration issues in deep neural networks with mismatched train and test distributions.
method Simple data augmentation and mixing techniques for ensemble models.
result Improves calibration and accuracy on CIFAR10 and CIFAR100 benchmarks.
We study financial distributions within the framework of the continuous time random walk (CTRW). We review earlier approaches and present new results related to overnight effects as well as the generalization of the formalism which embodies a non-Markovian formulation of the CTRW aimed to account for correlated increme…
The dictionary-aided sparse regression (SR) approach has recently emerged as a promising alternative to hyperspectral unmixing (HU) in remote sensing. By using an available spectral library as a dictionary, the SR approach identifies the underlying materials in a given hyperspectral image by selecting a small subset of…
Paper proves Toponogov's theorem in Alexandrov geometry.
problem Proving Toponogov's theorem in Alexandrov geometry with lower curvature bound.
method Inspired by Riemannian geometry, uses second variation formula.
result Elementary proof of Toponogov's theorem in Alexandrov geometry.
Empirical study compares finite- and infinite-width BNNs, revealing performance differences under model mismatch.
problem Comparing BNNs with different widths due to conflicting model properties and inference intractability.
method Empirical comparison of finite- and infinite-width BNNs, analyzing performance under model mismatch.
result Increasing width can hurt BNN performance when the model is mis-specified, and finite-width BNNs generalize better under model mismatch.
We characterize the performance of sequential information guided sensing, Info-Greedy Sensing, when there is a mismatch between the true signal model and the assumed model, which may be a sample estimate. In particular, we consider a setup where the signal is low-rank Gaussian and the measurements are taken in the dire…
New framework for AI to learn causal models through experience.
problem Lack of guidance for variable choice and interventions in causal models for AI.
method Defines actions as state space transformations, introduces causal variables, and identifies interventions.
result Clarifies the concept of interventions and makes causal representation learning clearer.
The performance of automatic speech recognition (ASR) systems can be significantly compromised by previously unseen conditions, which is typically due to a mismatch between training and testing distributions. In this paper, we address robustness by studying domain invariant features, such that domain information become…
Many sleep studies suffer from the problem of insufficient data to fully utilize deep neural networks as different labs use different recordings set ups, leading to the need of training automated algorithms on rather small databases, whereas large annotated databases are around but cannot be directly included into thes…
We construct an elementary, combinatorial kind of topological quantum field theory, based on curves, surfaces, and orientations. The construction derives from contact invariants in sutured Floer homology and is essentially an elaboration of a TQFT defined by Honda--Kazez--Matic. This topological field theory stores inf…
Most of the existing studies on voice conversion (VC) are conducted in acoustically matched conditions between source and target signal. However, the robustness of VC methods in presence of mismatch remains unknown. In this paper, we report a comparative analysis of different VC techniques under mismatched conditions. …
New algorithm solves Schrödinger bridge problem with mismatched channels.
problem Solving Schrödinger bridge problem with input and noise channel mismatch.
method Design of a Sinkhorn recursion with memory for nonlinear PDEs.
result Demonstrates solving control-affine Schrödinger bridge problem.
What is the role of real-time control and learning in the formation of social conventions? To answer this question, we propose a computational model that matches human behavioral data in a social decision-making game that was analyzed both in discrete-time and continuous-time setups. Furthermore, unlike previous approa…
Animals (especially humans) have an amazing ability to learn new tasks quickly, and switch between them flexibly. How brains support this ability is largely unknown, both neuroscientifically and algorithmically. One reasonable supposition is that modules drawing on an underlying general-purpose sensory representation a…
SRRM improves recursive transport surrogates in the small-discrepancy regime.
problem Insufficient understanding of recursive partitioning methods' statistical behavior and resolution in the small-discrepancy regime.
method Introduced Selective Recursive Rank Matching (SRRM) to improve the resolution of Recursive Rank Matching (RRM).
result SRRM yields a higher-fidelity practical surrogate for the Wasserstein distance at moderate additional computational cost.
Probabilistic models analyze data by relying on a set of assumptions. Data that exhibit deviations from these assumptions can undermine inference and prediction quality. Robust models offer protection against mismatch between a model's assumptions and reality. We propose a way to systematically detect and mitigate mism…
We study the estimation capacity of the generalized Lasso, i.e., least squares minimization combined with a (convex) structural constraint. While Lasso-type estimators were originally designed for noisy linear regression problems, it has recently turned out that they are in fact robust against various types of model un…
We study the problem of off-policy policy optimization in Markov decision processes, and develop a novel off-policy policy gradient method. Prior off-policy policy gradient approaches have generally ignored the mismatch between the distribution of states visited under the behavior policy used to collect data, and what …
Study addresses covariate mismatch in federated learning, improving model accuracy.
problem Learning from clients with different feature sets in federated learning.
method Developed two approaches for linear prediction under covariate mismatch: plug-in estimator and impute-then-regress strategy.
result Proposed methods provide asymptotic and finite-sample learning rates, improving model accuracy.
A new method improves data generation quality by correcting score mismatches.
problem Score mismatch issue in conditional score-based data generation methods.
method Denoising Likelihood Score Matching (DLSM) loss for classifier training.
result The proposed method outperforms previous methods on Cifar-10 and Cifar-100 benchmarks.
Improved BN for better performance in imbalanced data.
problem Improving classification accuracy in imbalanced datasets.
method Combining weighted loss function with modified batch normalization.
result Modified batch normalization improves classification accuracy in imbalanced datasets.
New tensor kernels reduce mismatch between clustering and reconstruction objectives in deep learning.
problem Objective Function Mismatch in deep clustering.
method Proposed Unsupervised Companion Objectives (UCOs) with tensor kernels to address mismatch.
result Reduced OFM between clustering and reconstruction objectives, leading to improved clustering performance.
Econophysics embodies the recent upsurge of interest by physicists into financial economics, driven by the availability of large amount of data, job shortage in physics and the possibility of applying many-body techniques developed in statistical and theoretical physics to the understanding of the self-organizing econo…