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Gian Maria Marconi

2 accepted papers

2024

Variational Learning is Effective for Large Deep Networks

ICML 2024spotlight

We give extensive empirical evidence against the common belief that variational learning is ineffective for large neural networks. We show that an optimizer called Improved Variational Online Newton (IVON) consistently matches or outperforms Adam for training large networks such as GPT-2 and ResNets…

2021

Structured Prediction for CRiSP Inverse Kinematics Learning With Misspecified Robot Models

RA-L 2021

With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse kinematics of a redundant robot arm poses a significant challenge due

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