7 papers
LexiSafe: Offline Safe Reinforcement Learning with Lexicographic Safety-Reward Hierarchy
Hsin-Jung Yang, Zhanhong Jiang, Prajwal Koirala +3
Offline safe reinforcement learning (RL) is increasingly important for cyber-physical systems (CPS), where safety violations during training are unacceptable and only pre-collected…
Balancing Utility and Privacy: Dynamically Private SGD with Random Projection
Zhanhong Jiang, Md Zahid Hasan, Nastaran Saadati +3
Stochastic optimization is a pivotal enabler in modern machine learning, producing effective models for various tasks. However, several existing works have shown that model paramet…
Decentralized Relaxed Smooth Optimization with Gradient Descent Methods
Zhanhong Jiang, Aditya Balu, Soumik Sarkar
-smoothness, which has been pivotal to advancing decentralized optimization theory, is often fairly restrictive for modern tasks like deep learning. The recent advent of relax…
Data-driven Kinematic Modeling in Soft Robots: System Identification and Uncertainty Quantification
Zhanhong Jiang, Dylan Shah, Hsin-Jung Yang +1
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To…
DeCAF: Decentralized Consensus-And-Factorization for Low-Rank Adaptation of Foundation Models
Nastaran Saadati, Zhanhong Jiang, Joshua R. Waite +4
Low-Rank Adaptation (LoRA) has emerged as one of the most effective, computationally tractable fine-tuning approaches for training Vision-Language Models (VLMs) and Large Language…
Bidirectional Linear Recurrent Models for Sequence-Level Multisource Fusion
Qisai Liu, Zhanhong Jiang, Joshua R. Waite +3
Sequence modeling is a critical yet challenging task with wide-ranging applications, especially in time series forecasting for domains like weather prediction, temperature monitori…