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

Deep learning has been the most popular machine learning method in the last few years. In this chapter, we present the application of deep learning and physics-informed neural networks concerning structural mechanics and vibration problems.…

Active researches are currently being performed to incorporate the wealth of scientific knowledge into data-driven approaches (e.g., neural networks) in order to improve the latter's effectiveness. In this study, the Theory-guided Neural…

Resonant power converters offer improved levels of efficiency and power density. In order to implement such systems, advanced control techniques are required to take the most of the power converter. In this context, model predictive control…

Forecasting the evolution of contagion dynamics is still an open problem to which mechanistic models only offer a partial answer. To remain mathematically or computationally tractable, these models must rely on simplifying assumptions,…

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,…

Being able to reason in an environment with a large number of discrete actions is essential to bringing reinforcement learning to a larger class of problems. Recommender systems, industrial plants and language models are only some of the…

Accurate inverse dynamics models are essential tools for controlling industrial robots. Recent research combines neural network regression with inverse dynamics formulations of the Newton-Euler and the Euler-Lagrange equations of motion,…

Physical phenomena in the real world are often described by energy-based modeling theories, such as Hamiltonian mechanics or the Landau theory, which yield various physical laws. Recent developments in neural networks have enabled the…

Recent works exploring deep learning application to dynamical systems modeling have demonstrated that embedding physical priors into neural networks can yield more effective, physically-realistic, and data-efficient models. However, in the…

We propose a novel technique for training deep networks with the objective of obtaining feature representations that exist in a Euclidean space and exhibit strong clustering behavior. Our desired features representations have three traits:…

Substitution of well-grounded theoretical models by data-driven predictions is not as simple in engineering and sciences as it is in social and economic fields. Scientific problems suffer most times from paucity of data, while they may…

Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter's compliant and robust nature. In parallel to this shift, the community has also turned to Deep…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Climate models play a critical role in understanding and projecting climate change. Due to their complexity, their horizontal resolution of about 40-100 km remains too coarse to resolve processes such as clouds and convection, which need to…

Deep learning has proved itself to be a powerful tool to develop data-driven signal processing algorithms for challenging engineering problems. By learning the key features and characteristics of the input signals, instead of requiring a…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

Physical motion models offer interpretable predictions for the motion of vehicles. However, some model parameters, such as those related to aero- and hydrodynamics, are expensive to measure and are often only roughly approximated reducing…

While the basic laws of Newtonian mechanics are well understood, explaining a physical scenario still requires manually modeling the problem with suitable equations and estimating the associated parameters. In order to be able to leverage…

An early example of the ability of deep networks to improve the statistical power of data collected in particle physics experiments was the demonstration that such networks operating on lists of particle momenta (four-vectors) could…

The manipulation of deformable linear objects (DLOs) via model-based control requires an accurate and computationally efficient dynamics model. Yet, data-driven DLO dynamics models require large training data sets while their predictions…