4 papers
Quantifying Epistemic Predictive Uncertainty in Conformal Prediction
Siu Lun Chau, Soroush H. Zargarbashi, Yusuf Sale +1
We study the problem of quantifying epistemic predictive uncertainty (EPU) -- that is, uncertainty faced at prediction time due to the existence of multiple plausible predictive mo…
PoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Control
Haozhuo Zhang, Michele Caprio, Jing Shao +4
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations int…
When Do Credal Sets Stabilize? Fixed-Point Theorems for Credal Set Updates
Michele Caprio, Siu Lun Chau, Krikamol Muandet
Many machine learning algorithms rely on iterative updates of uncertainty representations, ranging from variational inference and expectation-maximization, to reinforcement learnin…
TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion
Amr Mousa, Neil Karavis, Michele Caprio +2
Quadrupedal locomotion via Reinforcement Learning (RL) is commonly addressed using the teacher-student paradigm, where a privileged teacher guides a proprioceptive student policy.…