相关论文: Deep Lagrangian Networks: Using Physics as Model P…

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…

Applying Deep Learning to control has a lot of potential for enabling the intelligent design of robot control laws. Unfortunately common deep learning approaches to control, such as deep reinforcement learning, require an unrealistic amount…

Controlling a robot based on physics-consistent dynamic models, such as Deep Lagrangian Networks (DeLaN), can improve the generalizability and interpretability of the resulting behavior. However, in complex environments, the number of…

Modeling complex physical dynamics is a fundamental task in science and engineering. Traditional physics-based models are sample efficient, and interpretable but often rely on rigid assumptions. Furthermore, direct numerical approximation…

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…

Deep learning models are able to approximate one specific dynamical system but struggle at learning generalisable dynamics, where dynamical systems obey the same laws of physics but contain different numbers of elements (e.g., double- and…

Deep neural networks have become a pervasive tool in science and engineering. However, modern deep neural networks' growing energy requirements now increasingly limit their scaling and broader use. We propose a radical alternative for…

Physical systems are commonly represented as a combination of particles, the individual dynamics of which govern the system dynamics. However, traditional approaches require the knowledge of several abstract quantities such as the energy or…

Deep learning is the backbone of artificial intelligence technologies, and it can be regarded as a kind of multilayer feedforward neural network. An essence of deep learning is information propagation through layers. This suggests that…

Physics-based simulations are often used to model and understand complex physical systems and processes in domains like fluid dynamics. Such simulations, although used frequently, have many limitations which could arise either due to the…

By incorporating physical consistency as inductive bias, deep neural networks display increased generalization capabilities and data efficiency in learning nonlinear dynamic models. However, the complexity of these models generally…

Combining deep learning with classical physics facilitates the efficient creation of accurate dynamical models. In a recent class of neural network, Lagrangian mechanics is hard-coded into the architecture, and training the network learns…

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.…

Identifying accurate dynamic models is required for the simulation and control of various technical systems. In many important real-world applications, however, the two main modeling approaches often fail to meet requirements: first…

The increased availability of data and computing resources has enabled researchers to successfully adopt machine learning (ML) techniques and make significant contributions in several engineering areas. ML and in particular deep learning…

We consider the use of Deep Learning methods for modeling complex phenomena like those occurring in natural physical processes. With the large amount of data gathered on these phenomena the data intensive paradigm could begin to challenge…

Recent years have witnessed the outstanding success of deep learning in various fields such as vision and natural language processing. This success is largely indebted to the massive size of deep learning models that is expected to increase…

Grey-box methods for system identification combine deep learning with physics-informed constraints, capturing complex dependencies while improving out-of-distribution generalization. Despite the growing importance of floating-base systems…

We have developed a new data-driven paradigm for the rapid inference, modeling and simulation of the physics of transport phenomena by deep learning. Using conditional generative adversarial networks (cGAN), we train models for the direct…

As a network-based functional approximator, we have proposed a "Lagrangian Density Space-Time Deep Neural Networks" (LDDNN) topology. It is qualified for unsupervised training and learning to predict the dynamics of underlying physical…