Related papers: Equilibrium Propagation for Learning in Lagrangian…
The energy shaping method, Controlled Lagrangian, is a well-known approach to stabilize the under-actuated Euler Lagrange (EL) systems. In this approach, to construct a control rule, some nonlinear, nonhomogeneous partial differential…
Equilibrium Propagation (EP) is a learning algorithm that bridges Machine Learning and Neuroscience, by computing gradients closely matching those of Backpropagation Through Time (BPTT), but with a learning rule local in space. Given an…
We introduce a principled method to train end-to-end analog neural networks by stochastic gradient descent. In these analog neural networks, the weights to be adjusted are implemented by the conductances of programmable resistive devices…
Equilibrium Propagation (EP) is an algorithm intrinsically adapted to the training of physical networks, thanks to the local updates of weights given by the internal dynamics of the system. However, the construction of such a hardware…
We liberate Equilibrium Propagation (EP) from the limit of infinitesimal perturbations by establishing a finite-nudge foundation for local credit assignment. By modeling network states as Gibbs-Boltzmann distributions rather than…
Effective inclusion of physics-based knowledge into deep neural network models of dynamical systems can greatly improve data efficiency and generalization. Such a-priori knowledge might arise from physical principles (e.g., conservation…
Lagrangian Neural Networks (LNNs) are a powerful tool for addressing physical systems, particularly those governed by conservation laws. LNNs can parametrize the Lagrangian of a system to predict trajectories with nearly conserved energy.…
The rapid rise of artificial intelligence has led to an unsustainable growth in energy consumption. This has motivated progress in neuromorphic computing and physics-based training of learning machines as alternatives to digital neural…
Equilibrium Propagation (EP) is a biologically inspired alternative algorithm to backpropagation (BP) for training neural networks. It applies to RNNs fed by a static input x that settle to a steady state, such as Hopfield networks. EP is…
There has been an increasing interest in learning dynamics simulators for model-based control. Compared with off-the-shelf physics engines, a learnable simulator can quickly adapt to unseen objects, scenes, and tasks. However, existing…
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization techniques are typically used to convert the complex…
Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…
We study the evolution of distributions under the action of an ergodic dynamical system, which may be stochastic in nature. By employing tools from Koopman and transfer operator theory one can evolve any initial distribution of the state…
Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…
Equilibrium Propagation (EP) is a biologically-inspired algorithm for convergent RNNs with a local learning rule that comes with strong theoretical guarantees. The parameter updates of the neural network during the credit assignment phase…
Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or black-box modeling using neural networks, can suffer from high…
Equilibrium Propagation (EP) is a biologically-inspired counterpart of Backpropagation Through Time (BPTT) which, owing to its strong theoretical guarantees and the locality in space of its learning rule, fosters the design of…
In Programming by Demonstration, the robot learns novel skills from human demonstrations. After learning, the robot should be able not only to reproduce the skill, but also to generalize it to shifted domains without collecting new training…