RFC enhances humanoid control to imitate complex human motions.
problem Dynamics mismatch between humanoid models and real humans.
method Residual Force Control (RFC) augments control policies with external forces.
result RFC outperforms state-of-the-art methods in convergence speed and motion quality.
Framework calculates positional influence in causal residual Transformers.
problem Understanding positional influence in causal residual Transformers.
method Adjoint-sensitivity framework for positional influence in causal residual Transformers.
result Exact evolution of adjoint-energy influence density and decomposition into residual transmission, nonlocal Volterra, and local channels.
This work tackles force control for contact-rich manipulation tasks with rigid robots using RL.
problem Challenges in working with real robotic hardware, especially position-controlled robots.
method Combines RL with traditional force control techniques, implementing parallel position/force control and admittance control.
result Validated methods on both simulation and real robot (UR3 e-series) for force control.
HCLM framework uses entropy regularization for open learning systems.
problem Real-world AI challenges and limitations of deep learning.
method Dynamical and information-theoretic framework with entropy regularization.
result Geometric entropy surrogates, especially log-determinant covariance entropy, induce stronger and more stable information forces.
Deep residual networks can approximate any continuous function using control theory.
problem Universal approximation capabilities of deep residual neural networks.
method Relating residual networks to control systems and using Lie algebraic techniques.
result Deep residual networks with adequately deep layers can approximate any continuous function on a compact set.
PenduMAV is a 6-input omnidirectional MAV without internal forces.
problem Designing a MAV without internal forces and structural costs.
method Multibody dynamics derivation, SE(3) control, Lyapunov analysis, Gazebo simulations.
result Asymptotic stabilization of the closed-loop system under parametric uncertainty and actuator noise.
This article is concerned with learning and stochastic control in physical systems which contain unknown input signals. These unknown signals are modeled as Gaussian processes (GP) with certain parametrized covariance structures. The resulting latent force models (LFMs) can be seen as hybrid models that contain a first…
Study Transformer layers under cross-entropy training using mean field control.
problem Understanding the behavior of Transformer layers in cross-entropy training.
method Continuous-depth mean field control analysis, treating depth as time and layer parameters as controls.
result Derivation of a Pontryagin condition for the limiting population problem, involving the softmax residual.
We revisit residual algorithms in both model-free and model-based reinforcement learning settings. We propose the bidirectional target network technique to stabilize residual algorithms, yielding a residual version of DDPG that significantly outperforms vanilla DDPG in the DeepMind Control Suite benchmark. Moreover, we…
We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability for systems with n degrees of freedom and n−1 input forces.
Deep learning for HJB PDEs using synthetic data and residual minimization.
problem Solving Hamilton-Jacobi-Bellman PDEs for optimal control problems.
method Gradient-augmented synthetic dataset for supervised learning, residual minimization.
result Improves accuracy and efficiency of deep learning for HJB PDEs.
Paper uses VAEs to control IVS features for financial modeling.
problem Generating realistic IVSs with desired characteristics.
method Variational autoencoder architecture with controllable latent variables.
result Controlled generation of IVSs with specified features.
The paper analyzes how open-end fund sales affect prices and returns.
problem How open-end fund sales impact prices and returns.
method Continuous-time market-clearing model to derive expected-return restrictions.
result Forced-sale pressure predicts actual fund selling and positive returns.
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can r…
Bayesian modelling of dynamic systems must achieve a compromise between providing a complete mechanistic specification of the process while retaining the flexibility to handle those situations in which data is sparse relative to model complexity, or a full specification is hard to motivate. Latent force models achieve …
RPPs improve deep learning models with soft equivariance constraints.
problem Balancing expressiveness and inductive biases in deep learning.
method Introducing Residual Pathway Priors (RPPs) to convert hard constraints into soft priors.
result RPPs enable models to learn structured solutions while retaining flexibility.
This paper improves bond market making by adjusting hit-ratios for client flow quality.
problem Economic misleading of raw hit-ratios in corporate bond market making.
method Stochastic-control framework with residual-quality-adjusted hit-ratio.
result Optimal quotes decompose into various components, improving service/economics frontier.
The paper proves geometric and spectral alignment for deep neural networks.
problem Understanding the singular spectra of deep neural network layers.
method Proves deterministic quotient-geometric estimates for singular spectra of Frobenius-normalized layer factors.
result Exact power-law spectra form a trace-normalized Cartan orbit under Frobenius normalization.
Residual networks' depth is mathematically equivalent to expanding an implicit ensemble size.
problem Understanding why deep residual networks are effective.
method Formal analysis of residual networks as ensembles of shallow models.
result Increasing network depth is equivalent to expanding the size of an implicit ensemble, revealing a hierarchical structure.
GT-DDP optimizer trains residual networks using game theory.
problem Applying DDP to residual networks.
method Game-theoretic DDP optimizer for residual networks.
result Improved training convergence and variance reduction.
A linear and lagged relationship between inflation and labor force change rate, p(t)= A1dLF(t-t1)/LF(t-t1)+A2 was found for developed economies. For the USA, A1=4.0, A2=-0.03075, and t1=2 years. It provides a RMS forecasting error (RMFSE) of 0.8% at a two-year horizon for the period between 1965 and 2002 (the best amon…
This paper studies deep learning methodologies for portfolio optimization in the US equities market. We present a novel residual switching network that can automatically sense changes in market regimes and switch between momentum and reversal predictors accordingly. The residual switching network architecture combines …
In this paper, we propose new conditions guaranteeing that the trajectories of a mechanical control system can track any curve on the configuration manifold. We focus on systems that can be represented as forced affine connection control systems and we generalize the sufficient conditions for tracking known in the lite…
Proposes a neural network method to correct residual distortions in coordinate transformations.
problem Nonlinear and spatially dependent distortions in coordinate transformation models.
method Residual-based neural network approach focusing on systematic distortions.
result The method improves accuracy and stability in challenging conditions.
New method uses observational data to improve trial design efficiency.
problem Scarce randomized controlled trials; inefficiency of using observational data.
method Active Residual Learning, R-Design framework, R-EPIG criterion.
result Efficiently estimating residuals to correct observational bias improves trial design.
Latent force models are a class of hybrid models for dynamic systems, combining simple mechanistic models with flexible Gaussian process (GP) perturbations. An extension of this framework to include multiplicative interactions between the state and GP terms allows strong a priori control of the model geometry at the ex…
Residual Continual Learning prevents forgetting in sequential tasks.
problem Preventing catastrophic forgetting in sequential learning of multiple tasks.
method ResCL reparameterizes network parameters by combining original and fine-tuned networks, keeping network size constant.
result ResCL achieves state-of-the-art performance in various continual learning scenarios.
We construct minimal laminations by hyperbolic surfaces whose generic leaf is a disk and contain any prescribed family of surfaces and with a precise control of the topologies of the surfaces that appear. The laminations are constructed via towers of finite coverings of surfaces for which we need to develop a relative …
A new one-point feedback scheme improves ZO algorithms for black-box optimization.
problem Optimizing black-box functions without gradient information.
method Proposes a one-point feedback scheme to estimate gradients using residuals.
result Matches query complexity of two-point schemes for deterministic Lipschitz functions.
A close relationship between the classical Hamilton-Jacobi theory and the kinematic reduction of control systems by decoupling vector fields is shown in this paper. The geometric interpretation of this relationship relies on new mathematical techniques for mechanics defined on a skew-symmetric algebroid. This geometric…
The study analyzes numerical stability in large language models using mixed-precision arithmetic.
problem Numerical stability of large language models using low-precision arithmetic.
method Developed a mixed-precision analysis of transformer inference, deriving bounds for condition numbers and forward error.
result Established that numerical stability is determined by the interplay between weight magnitude and the growth of the residual stream.
Cointegration helps insurers understand long-range mortality patterns.
problem Insurers struggle to detect long-range dependence in their mortality data.
method Cointegration techniques applied to mixed fractional Brownian motion (mfBm) to capture long-range dependence.
result Cointegration brings long-range dependence information from national mortality data to insurers' models.
Given a submersion π:Q→M with an Ehresmann connection H, we describe how to solve Hamiltonian systems on M by lifting our problem to Q. Furthermore, we show that all solutions of these lifted Hamiltonian systems can be described using the original Hamiltonian vector field on M along with a gener…
DIGIT is a low-cost tactile sensor for in-hand manipulation.
problem Difficulty in sensing contact forces limits robotic manipulation.
method DIGIT miniaturizes and improves a vision-based tactile sensor.
result DIGIT enables better control of interactions with the environment.
Weibull weight-scale parameter λ evolves during AdamW training, with alignment, injection, and decay forces driving its growth and relaxation.
problem Understanding the evolution of the Weibull weight-scale parameter λ during AdamW training. method Deriving a leading-order three-force decomposition of the squared weight norm from AdamW updates.
result The alignment force dominates the rise phase, contributing 88-94% of the absolute force budget across four random seeds.
The paper analyzes optimal retirement timing considering age-dependent mortality risk.
problem Optimal retirement timing under age-dependent mortality risk.
method Formulated as a stochastic control and optimal stopping problem, transformed into a finite time horizon, three-dimensional degenerate optimal stopping problem.
result Existence of an optimal retirement boundary, characterized as a unique solution to a nonlinear integral equation.
BDSG generates samples on distribution boundaries, improving anomaly detection.
problem Difficulty in capturing multimodal supports and approximating distribution tails.
method Invertible Residual Network (IResNet) and Residual Flow (ResFlow) for density estimation; compound loss function for boundary samples.
result Competitive performance on synthetic and multimodal data compared to existing methods.
New Lagrangian approach for optimal control of second-order systems.
problem Optimal control of second-order differential equations derived from force-controlled Lagrangian systems.
method Proposes a new hyperregular control Lagrangian and control Hamiltonian, providing necessary optimality conditions.
result Defines an extended Tulczyjew's triple with controls and studies the relationship between Noether symmetries.
Study tests how U.S. equity prices align with global asset frequencies using financial variables.
problem Testing whether U.S. equity prices align with global asset frequencies using financial variables.
method Examines SPX and RUT gaps, uses OIS-based funding, volatility, trading-friction, financial-condition variables, and residual information.
result Gains in fit survive broad-dollar neutralization, alternative blocks, PCA, residualization, and nested horizon selection, supporting reduced-form P-Q alignment.
MLP residual networks implement a selective coarse-graining procedure governed by the spectral structure of the input distribution.
problem Understanding the coarse-graining procedure in MLP residual networks
method Analyzing a pure MLP residual stack on synthetic Markov chain sequences
result MLP residual networks implement a selective coarse-graining procedure governed by the spectral structure of the input distribution
Robustly detects and attributes climate change impacts under interventions.
problem Detect and attribute climate change impacts from observations robustly.
method Supervised learning with anchor regression for robust predictions under interventions.
result CO2 forcing can be robustly predicted from temperature patterns under strong solar forcing interventions.
A major contributing factor to the recent advances in deep neural networks is structural units that let sensory information and gradients to propagate easily. Gating is one such structure that acts as a flow control. Gates are employed in many recent state-of-the-art recurrent models such as LSTM and GRU, and feedforwa…
In this paper, we propose a novel unsupervised learning method to learn the brain dynamics using a deep learning architecture named residual D-net. As it is often the case in medical research, in contrast to typical deep learning tasks, the size of the resting-state functional Magnetic Resonance Image (rs-fMRI) dataset…
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions. Here we describe a method using the deformation and color distribution of the finge…
Sharp stability threshold found for deep residual architectures.
problem Ensuring stable training and inference in deep residual networks.
method Sublinear-growth principle and optimal-control analysis.
result Stable training condition: input-magnitude exponent q ≤ 1.
New diagnostic method detects misspecified models in inverse PDE problems.
problem Misleading residual-norm diagnostics in inverse PDE problems.
method Structure-sensitive sequential diagnostic using e-processes.
result Rejects fitted models that produce biased predictions.
New results on homology torsion growth for various groups.
problem Understanding the growth of higher torsion homologies for arithmetic lattices and other groups.
method Quantitative homotopical method called effective rebuilding, constructing small classifying spaces of finite index subgroups.
result Strong asymptotic bounds for the torsion growth in principal congruence subgroups.
Residual connections significantly boost the performance of deep neural networks. However, there are few theoretical results that address the influence of residuals on the hypothesis complexity and the generalization ability of deep neural networks. This paper studies the influence of residual connections on the hypoth…