相关论文: Copy the dynamics using a learning machine

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

Machine learning algorithms, and more in particular neural networks, arguably experience a revolution in terms of performance. Currently, the best systems we have for speech recognition, computer vision and similar problems are based on…

Bridging the gap between motion models and reality is crucial by using limited data to deploy robots in the real world. Deep learning is expected to be generalized to diverse situations while reducing feature design costs through end-to-end…

We study the fundamental problem of learning a marginally stable unknown nonlinear dynamical system. We describe an algorithm for this problem, based on the technique of spectral filtering, which learns a mapping from past observations to…

In applications, an anticipated situation is where the system of interest has never been encountered before and sparse observations can be made only once. Can the dynamics be faithfully reconstructed from the limited observations without…

We consider the problem of learning the dynamics of autonomous linear systems (i.e., systems that are not affected by external control inputs) from observations of multiple trajectories of those systems, with finite sample guarantees.…

The vast majority of systems of practical interest are characterised by nonlinear dynamics. This renders the control and optimization of such systems a complex task due to their nonlinear behaviour. Additionally, standard methods such as…

A physical self-learning machine can be defined as a nonlinear dynamical system that can be trained on data (similar to artificial neural networks), but where the update of the internal degrees of freedom that serve as learnable parameters…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

In this work, we explore the use of compact latent representations with learned time dynamics ('World Models') to simulate physical systems. Drawing on concepts from control theory, we propose a theoretical framework that explains why…

Constructing an accurate system model for formal model verification can be both resource demanding and time-consuming. To alleviate this shortcoming, algorithms have been proposed for automatically learning system models based on observed…

Physical dynamical systems can be viewed as natural information processors: their systems preserve, transform, and disperse input information. This perspective motivates learning not only from data generated by such systems, but also how to…

Macroscopic dynamical descriptions of complex physical systems are crucial for understanding and controlling material behavior. With the growing availability of data and compute, machine learning has become a promising alternative to…

Dynamical systems can autonomously adapt their organization so that the required target dynamics is reproduced. In the previous Rapid Communication [Phys. Rev. E 90,030901(R) (2014)], it was shown how such systems can be designed using…

Through the method of Learning Feedback Linearization, we seek to learn a linearizing controller to simplify the process of controlling a car to race autonomously. A soft actor-critic approach is used to learn a decoupling matrix and drift…

Widespread deployment of societal-scale machine learning systems necessitates a thorough understanding of the resulting long-term effects these systems have on their environment, including loss of trustworthiness, bias amplification, and…

We present log-linear dynamical systems, a dynamical system model for positive quantities. We explain the connection to linear dynamical systems and show how convex optimization can be used to identify and control log-linear dynamical…

Continual learning is the ability to acquire new knowledge without forgetting the previously learned one, assuming no further access to past training data. Neural network approximators trained with gradient descent are known to fail in this…

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…

Machine learning has become increasingly popular for efficiently modelling the dynamics of complex physical systems, demonstrating a capability to learn effective models for dynamics which ignore redundant degrees of freedom. Learned…