相关论文: Copy the dynamics using a learning machine

We present a data-driven modeling strategy to overcome improperly modeled dynamics for systems exhibiting complex spatio-temporal behaviors. We propose a Deep Learning framework to resolve the differences between the true dynamics of the…

This work presents a hybrid modeling approach to data-driven learning and representation of unknown physical processes and closure parameterizations. These hybrid models are suitable for situations where the mechanistic description of…

Recently there has been substantial interest in spectral methods for learning dynamical systems. These methods are popular since they often offer a good tradeoff between computational and statistical efficiency. Unfortunately, they can be…

We present a novel approach for learning nonlinear dynamic models, which leads to a new set of tools capable of solving problems that are otherwise difficult. We provide theory showing this new approach is consistent for models with long…

Deep learning has been widely used within learning algorithms for robotics. One disadvantage of deep networks is that these networks are black-box representations. Therefore, the learned approximations ignore the existing knowledge of…

Imitation learning is a paradigm to address complex motion planning problems by learning a policy to imitate an expert's behavior. However, relying solely on the expert's data might lead to unsafe actions when the robot deviates from the…

Encoding a sequence of observations is an essential task with many applications. The encoding can become highly efficient when the observations are generated by a dynamical system. A dynamical system imposes regularities on the observations…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

The utility of machine learning in understanding the motor system is promising a revolution in how to collect, measure, and analyze data. The field of movement science already elegantly incorporates theory and engineering principles to…

The design of decision and control strategies for switched systems typically requires complete knowledge of (i) mathematical models of the subsystems and (ii) restrictions on admissible switches between the subsystems. We propose an active…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Simulating nonlinear classical dynamics on a quantum computer is an inherently challenging task due to the linear operator formulation of quantum mechanics. In this work, we provide a systematic approach to alleviate this difficulty by…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

When neural networks are used to model dynamics, properties such as stability of the dynamics are generally not guaranteed. In contrast, there is a recent method for learning the dynamics of autonomous systems that guarantees global…

Real-world robots are becoming increasingly complex and commonly act in poorly understood environments where it is extremely challenging to model or learn their true dynamics. Therefore, it might be desirable to take a task-specific…

Mechanical learning is a computing system that is based on a set of simple and fixed rules, and can learn from incoming data. A learning machine is a system that realizes mechanical learning. Importantly, we emphasis that it is based on a…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

Learning in living organisms is typically associated with networks of neurons. The use of large numbers of adjustable units has also been a crucial factor in the continued success of artificial neural networks. In light of the complexity of…