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Publications associées (30)

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Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

David Julian Gonon

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

EPFL2023

The future of human-centric eXplainable Artificial Intelligence (XAI) is not post-hoc explanations

Tanja Christina Käser Jacober, Vinitra Swamy, Jibril Albachir Frej

Explainable Artificial Intelligence (XAI) plays a crucial role in enabling human understanding and trust in deep learning systems, often defined as determining which features are most important to a model's prediction. As models get larger, more ubiquitous ...

2023

Learning and optimization of anticipatory feedback controllers for robot manipulation

Hakan Girgin

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

EPFL2023

UNDERGRAD: A Universal Black-Box Optimization Method with Almost Dimension-Free Convergence Rate Guarantees

Volkan Cevher, Kimon Antonakopoulos

Universal methods for optimization are designed to achieve theoretically optimal convergence rates without any prior knowledge of the problem’s regularity parameters or the accurarcy of the gradient oracle employed by the optimizer. In this regard, existin ...

2022

ADAGRAD Avoids Saddle Points

Kimon Antonakopoulos

Adaptive first-order methods in optimization are prominent in machine learning and data science owing to their ability to automatically adapt to the landscape of the function being optimized. However, their convergence guarantees are typically stated in te ...

JMLR-JOURNAL MACHINE LEARNING RESEARCH2022

Phase diagram of Stochastic Gradient Descent in high-dimensional two-layer neural networks

Lenka Zdeborová, Florent Gérard Krzakala, Bruno Loureiro, Ludovic Théo Stephan, Rodrigo Soares Veiga

Despite the non-convex optimization landscape, over-parametrized shallow networks are able to achieve global convergence under gradient descent. The picture can be radically different for narrow net-works, which tend to get stuck in badly-generalizing loca ...

2022

Gradient-Based Learning of Discrete Structured Measurement Operators for Signal Recovery

Jonathan Paul Sauder

Countless signal processing applications include the reconstruction of signals from few indirect linear measurements. The design of effective measurement operators is typically constrained by the underlying hardware and physics, posing a challenging and of ...

2022

Momentum-Based Policy Gradient with Second-Order Information

Patrick Thiran, Negar Kiyavash, Saber Salehkaleybar, Mohammadsadegh Khorasani

Variance-reduced gradient estimators for policy gradient methods have been one of the main focus of research in the reinforcement learning in recent years as they allow acceleration of the estimation process. We propose a variance-reduced policy-gradient m ...

2022

Brain signals of a Surprise-Actor-Critic model: Evidence for multiple learning modules in human decision making

Wulfram Gerstner, Johanni Michael Brea, Kerstin Preuschoff, Alireza Modirshanechi, Marco Philipp Lehmann, Vasiliki Liakoni

Learning how to reach a reward over long series of actions is a remarkable capability of humans, and potentially guided by multiple parallel learning modules. Current brain imaging of learning modules is limited by (i) simple experimental paradigms, (ii) e ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2022

Latent Mechanisms of Polarization Switching from In Situ Electron Microscopy Observations

Vasiliki Tileli, Reinis Ignatans

In situ scanning transmission electron microscopy enables observation of the domain dynamics in ferroelectric materials as a function of externally applied bias and temperature. The resultant data sets contain a wealth of information on polarization switch ...

WILEY-V C H VERLAG GMBH2022