30 accepted papers
The remarkable generalization properties of overparameterized networks are often attributed to implicit biases, such as norm minimization at small learning rates and low sharpness in the Edge-of-Stability regime. In this work, we argue that a comprehensive understanding of the generalization perform…
Video diffusion models provide powerful real-world simulators for embodied AI but remain limited in controllability for robotic manipulation. Recent works on trajectory-conditioned video generation address this gap but often rely on 2D trajectories or single modality conditioning, which restricts th…
We introduce GradPCA, an Out-of-Distribution (OOD) detection method that exploits the low-rank structure of neural network gradients induced by Neural Tangent Kernel (NTK) alignment. GradPCA applies Principal Component Analysis (PCA) to gradient class-means, achieving more consistent performance tha…
Graph Neural Networks (GNNs) are powerful tools for learning on structured data, yet the relationship between their expressivity and predictive performance remains unclear. We introduce a family of pseudometrics that capture different degrees of structural similarity between graphs and relate these…
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback controllers to manage such interactions. Soft robots, by co
Traditional fluid dynamics simulation pipelines combine numerical solvers with rendering, producing highly realistic results but at considerable computational cost. Diffusion-based generative video models offer a faster alternative, yet often ignore physical laws and thus fail to capture consistent…
Spiking neural networks (SNNs) are a promising paradigm for energy-efficient computation, yet their theoretical foundations—especially regarding stability and robustness—remain limited compared to artificial neural networks. In this work, we study discrete-time leaky integrate-and-fire (LIF) SNNs th…
The relationship between overparameterization, stability, and generalization remains incompletely understood in the setting of discontinuous classifiers. We address this gap by establishing a generalization bound for finite function classes that improves inversely with _class stability_, defined…
Information Pursuit (IP) is a recently introduced learning framework to construct classifiers that are interpretable-by-design. Given a set of task-relevant and interpretable data queries, IP selects a small subset of the most informative queries and makes predictions based on the gathered query-ans…
The problem of symbolic regression (SR) arises in many different applications, such as identifying physical laws or deriving mathematical equations describing the behavior of financial markets from given data. Various methods exist to address the problem of SR, often based on genetic programming. Ho…
Proper initialization is critical for Recurrent Neural Networks (RNNs), particularly in long-range reasoning tasks, where repeated application of the same weight matrix can cause vanishing or exploding signals. A common baseline for linear recurrences is Glorot initialization, designed to ensure sta…
We address the problem of generating long-horizon videos for robotic manipulation tasks. Text-to-video diffusion models have made significant progress in photorealism, language understanding, and motion generation but struggle with long-horizon robotic tasks. Recent works use video diffusion models
Recent advancements in generative models have revolutionized video synthesis and editing. However, the scarcity of diverse, high-quality datasets continues to hinder video-conditioned robotic learning, limiting cross-platform generalization. In this work, we address the challenge of swapping a robot
Recent advancements in machine learning have transformed the discovery of physical laws, moving from manual derivation to data-driven methods that simultaneously learn both the structure and parameters of governing equations. This shift introduces new challenges regarding the validity of the discove…
Recent years have seen significant progress in developing spiking neural networks (SNNs) as a potential solution to the energy challenges posed by conventional artificial neural networks (ANNs). However, our theoretical understanding of SNNs remains relatively limited compared to the ever-growing bo…
We introduce $r$-loopy Weisfeiler-Leman ($r$-$\ell$WL), a novel hierarchy of graph isomorphism tests and a corresponding GNN framework, $r$-$\ell$MPNN, that can count cycles up to length $r{+}2$. Most notably, we show that $r$-$\ell$WL can count homomorphisms of cactus graphs. This extends 1-WL, whi…
Graph neural networks (GNNs) have shown state-of-the-art performances in various applications. However, GNNs often struggle to capture long-range dependencies in graphs due to oversmoothing. In this paper, we generalize the concept of oversmoothing from undirected to directed graphs. To this aim, we…
Image classifiers are known to be difficult to interpret and therefore require explanation methods to understand their decisions. We present ShearletX, a novel mask explanation method for image classifiers based on the shearlet transform -- a multiscale directional image representation. Current mask…
The notion of neural collapse refers to several emergent phenomena that have been empirically observed across various canonical classification problems. During the terminal phase of training a deep neural network, the feature embedding of all examples of the same class tend to collapse to a single…
This work bridges two important concepts: the Neural Tangent Kernel (NTK), which captures the evolution of deep neural networks (DNNs) during training, and the Neural Collapse (NC) phenomenon, which refers to the emergence of symmetry and structure in the last-layer features of well-trained classifi…
To foster research and facilitate fair comparisons among recently proposed pathloss radio map prediction methods, we have launched the ICASSP 2023 First Pathloss Radio Map Prediction Challenge. In this short overview paper, we briefly describe the pathloss prediction problem, the provided datasets,…
Physical law learning is the ambiguous attempt at automating the derivation of governing equations with the use of machine learning techniques. This paper shall serve as a first step to build a comprehensive theoretical framework for learning physical laws, aiming to provide reliability to according…
A powerful framework for studying graphs is to consider them as geometric graphs: nodes are randomly sampled from an underlying metric space, and any pair of nodes is connected if their distance is less than a specified neighborhood radius. Currently, the literature mostly focuses on uniform samplin…
"We present CartoonX (Cartoon Explanation), a novel model-agnostic explanation method tailored towards image classifiers and based on the rate-distortion explanation (RDE) framework. Natural images are roughly piece-wise smooth signals---also called cartoon-like images---and tend to be sparse in the…
Message passing neural networks (MPNN) have seen a steep rise in popularity since their introduction as generalizations of convolutional neural networks to graph-structured data, and are now considered state-of-the-art tools for solving a large variety of graph-focused problems. We study the general…
This work develops a flexible and mathematically sound framework for the design and analysis of graph scattering networks with variable branching ratios and generic functional calculus filters. Spectrally-agnostic stability guarantees for node- and graph-level perturbations are derived; the vertex-s…
This paper deals with the problem of localization in a cellular network in a dense urban scenario. Global Navigation Satellite Systems (GNSS) typically perform poorly in urban environments, where the likelihood of line-of-sight conditions is low, and thus alternative localization methods are require…
Neural Tangent Kernel (NTK) is widely used to analyze overparametrized neural networks due to the famous result by Jacot et al. (2018): in the infinite-width limit, the NTK is deterministic and constant during training. However, this result cannot explain the behavior of deep networks, since it gene…
This work provides the first theoretical study on the ability of graph Message Passing Neural Networks (gMPNNs) ---such as Graph Neural Networks (GNNs)--- to perform inductive out-of-distribution (OOD) link prediction tasks, where deployment (test) graph sizes are larger than training graphs. We fir…
In this paper we propose a highly efficient and very accurate method for estimating the propagation pathloss from a point x to all points y on the 2D plane. Our method, termed RadioUNet, is a deep neural network. For applications such as user-cell site association and device-to-device (D2D) link sch…