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Related publications (29)

Learning Robust and Adaptive Representations: from Interactions, for Interactions

Interactions are ubiquitous in our world, spanning from social interactions between human individuals to physical interactions between robots and objects to mechanistic interactions among different components of an intelligent system. Despite their prevale ...

EPFL2023

Data-Driven Control and Optimization under Noisy and Uncertain Conditions

Baiwei Guo

Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...

EPFL2023

The hunt for the Karman 'constant' revisited

Peter Monkewitz

The log law of the wall, joining the inner, near-wall mean velocity profile (MVP) in wall-bounded turbulent flows to the outer region, has been a permanent fixture of turbulence research for over hundred years, but there is still no general agreement on th ...

Cambridge University Press2023

Tractography passes the test: Results from the diffusion-simulated connectivity (disco) challenge

Jean-Philippe Thiran, Gabriel Girard, Erick Jorge Canales Rodriguez, Juan Luis Villarreal Haro, Alessandro Daducci, Alonso Ramirez Manzanares, Marco Pizzolato, Ying-Chia Lin, Sara Sedlar, Caio Seguin, Kenji Marshall, Yang Ji

Estimating structural connectivity from diffusion-weighted magnetic resonance imaging is a challenging task, partly due to the presence of false-positive connections and the misestimation of connection weights. Building on previous efforts, the MICCAI-CDMR ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2023

Robust Outlier Rejection for 3D Registration with Variational Bayes

Mathieu Salzmann, Zheng Dang, Jiancheng Yang, Zhen Wei, Haobo Jiang

Learning-based outlier (mismatched correspondence) rejection for robust 3D registration generally formulates the outlier removal as an inlier/outlier classification problem. The core for this to be successful is to learn the discriminative inlier/outlier f ...

Ieee Computer Soc2023

On the Privacy-Robustness-Utility Trilemma in Distributed Learning

Rachid Guerraoui, John Stephan, Youssef Allouah, Nirupam Gupta, Rafaël Benjamin Pinot

The ubiquity of distributed machine learning (ML) in sensitive public domain applications calls for algorithms that protect data privacy, while being robust to faults and adversarial behaviors. Although privacy and robustness have been extensively studied ...

2023

Robust Collaborative Learning with Linear Gradient Overhead

Rachid Guerraoui, John Stephan, Sadegh Farhadkhani, Le Nguyen Hoang, Nirupam Gupta, Rafaël Benjamin Pinot

Collaborative learning algorithms, such as distributed SGD (or D-SGD), are prone to faulty machines that may deviate from their prescribed algorithm because of software or hardware bugs, poisoned data or malicious behaviors. While many solutions have been ...

PLMR2023

Rigidity-Aware Detection for 6D Object Pose Estimation

Mathieu Salzmann, Yinlin Hu, Jingyu Li, Rui Song

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus producing poor ...

Ieee Computer Soc2023

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Aude Billard, Farshad Khadivar

We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is never stable and task success relies on carefully synchronizing the fingers' dynamics. Indeed, finge ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

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