These working notes by Russ Tedrake cover nonlinear dynamics and control with a specific focus on mechanical systems. The material explores how to achieve robust, efficient, and graceful robot movement through the integration of mechanical design, passive dynamics, and nonlinear control synthesis. Rather than relying solely on model-free approaches, the text emphasizes using the underlying structure of dynamical equations to develop more data-efficient and robust algorithms via optimization and machine learning.
Main topics include:
* Model systems such as pendulums, acrobots, cart-poles, and quadrotors
* Simple models of walking and running dynamics
* Nonlinear planning and control using trajectory optimization and LQR
* Lyapunov analysis for stability and reachability
* Estimation techniques including Kalman filters and Bayesian methods
* Learning-based approaches such as imitation learning, policy search, and system identification
* Contact-implicit trajectory optimization and hybrid systems
Main topics include:
* Model systems such as pendulums, acrobots, cart-poles, and quadrotors
* Simple models of walking and running dynamics
* Nonlinear planning and control using trajectory optimization and LQR
* Lyapunov analysis for stability and reachability
* Estimation techniques including Kalman filters and Bayesian methods
* Learning-based approaches such as imitation learning, policy search, and system identification
* Contact-implicit trajectory optimization and hybrid systems
Personal website of Alex L. Zhang, a PhD student at MIT CSAIL focusing on the efficiency and utilization of language models. His research spans ML systems, language model benchmarks, and specialized model development.
Key areas of work include:
- Recursive Language Models (RLMs) and Project Popcorn
- GPU programming competitions via KernelBot and GPU MODE
- Benchmarking capabilities through VideoGameBench and KernelBench
- Development of models like Neo-1 and KernelLLM-8B
Key areas of work include:
- Recursive Language Models (RLMs) and Project Popcorn
- GPU programming competitions via KernelBot and GPU MODE
- Benchmarking capabilities through VideoGameBench and KernelBench
- Development of models like Neo-1 and KernelLLM-8B
A new study by MIT CSAIL researchers maps the challenges of AI in software development, identifying bottlenecks and highlighting research directions to move the field forward, aiming to allow humans to focus on high-level design while automating routine tasks.
This book covers foundational topics within computer vision, with an image processing and machine learning perspective. It aims to build the reader’s intuition through visualizations and is intended for undergraduate and graduate students, as well as experienced practitioners.
PhD student Sarah Alnegheimish is developing Orion, an open-source, user-friendly machine learning framework for detecting anomalies in large-scale industrial and operational settings. She focuses on making machine learning systems accessible, transparent, and trustworthy, and is exploring repurposing pre-trained models for anomaly detection.
A machine learning library for unsupervised time series anomaly detection. Orion provides verified ML pipelines to identify rare patterns in time series data.
>"TL;DR: We unify over 23 methods in contrastive learning, dimensionality reduction, spectral clustering, and supervised learning with a single equation."
>"As the field of representation learning grows, there has been a proliferation of different loss functions to solve different classes of problems. We introduce a single information-theoretic equation that generalizes a large collection of mod- ern loss functions in machine learning. In particular, we introduce a framework that shows that several broad classes of machine learning methods are precisely minimizing an integrated KL divergence between two conditional distributions: the supervisory and learned representations. This viewpoint exposes a hidden information geometry underlying clustering, spectral methods, dimensionality re- duction, contrastive learning, and supervised learning. This framework enables the development of new loss functions by combining successful techniques from across the literature. We not only present a wide array of proofs, connecting over 23 different approaches, but we also leverage these theoretical results to create state-of-the-art unsupervised image classifiers that achieve a +8% improvement over the prior state-of-the-art on unsupervised classification on ImageNet-1K. We also demonstrate that I-Con can be used to derive principled debiasing methods which improve contrastive representation learners."
>"As the field of representation learning grows, there has been a proliferation of different loss functions to solve different classes of problems. We introduce a single information-theoretic equation that generalizes a large collection of mod- ern loss functions in machine learning. In particular, we introduce a framework that shows that several broad classes of machine learning methods are precisely minimizing an integrated KL divergence between two conditional distributions: the supervisory and learned representations. This viewpoint exposes a hidden information geometry underlying clustering, spectral methods, dimensionality re- duction, contrastive learning, and supervised learning. This framework enables the development of new loss functions by combining successful techniques from across the literature. We not only present a wide array of proofs, connecting over 23 different approaches, but we also leverage these theoretical results to create state-of-the-art unsupervised image classifiers that achieve a +8% improvement over the prior state-of-the-art on unsupervised classification on ImageNet-1K. We also demonstrate that I-Con can be used to derive principled debiasing methods which improve contrastive representation learners."
MIT researchers developed a system that uses large language models to convert AI explanations into narrative text that can be more easily understood by users, aiming to help with better decision-making about model trustworthiness.
The system, called EXPLINGO, leverages large language models (LLMs) to convert machine-learning explanations, such as SHAP plots, into easily comprehensible narrative text. The system consists of two parts: NARRATOR, which generates natural language explanations based on user preferences, and GRADER, which evaluates the quality of these narratives. This approach aims to help users understand and trust machine learning predictions more effectively by providing clear and concise explanations.
The researchers hope to further develop the system to enable interactive follow-up questions from users to the AI model.
The system, called EXPLINGO, leverages large language models (LLMs) to convert machine-learning explanations, such as SHAP plots, into easily comprehensible narrative text. The system consists of two parts: NARRATOR, which generates natural language explanations based on user preferences, and GRADER, which evaluates the quality of these narratives. This approach aims to help users understand and trust machine learning predictions more effectively by providing clear and concise explanations.
The researchers hope to further develop the system to enable interactive follow-up questions from users to the AI model.
MIT researchers have developed a method using large language models to detect anomalies in complex systems without the need for training. The approach, called SigLLM, converts time-series data into text-based inputs for the language model to process. Two anomaly detection approaches, Prompter and Detector, were developed and showed promising results in initial tests.
News articles, videos, and podcasts related to artificial intelligence research, applications, and developments at MIT.
