相关论文: Steady-State Control and Machine Learning of Large…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

The enormous structural and chemical diversity of metal-organic frameworks (MOFs) forces researchers to actively use simulation techniques on an equal footing with experiments. MOFs are widely known for outstanding adsorption properties, so…

Learning complex trajectories from demonstrations in robotic tasks has been effectively addressed through the utilization of Dynamical Systems (DS). State-of-the-art DS learning methods ensure stability of the generated trajectories;…

The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…

Large Multimodal Models (LMMs) have demonstrated impressive performance across numerous academic benchmarks. However, fine-tuning still remains essential to achieve satisfactory performance on downstream tasks, while the task-specific…

Neural Networks are being integrated into safety critical systems, e.g., perception systems for autonomous vehicles, which require trained networks to perform safely in novel scenarios. It is challenging to verify neural networks because…

The Deformable Mirror Simulator (DMS) is an optical device reproducing the F/13 beam from the adaptive secondary mirror of the Very Large Telescope UT4. The system has been designed and integrated as a test tool for the calibration and…

Unsteady fluid systems are nonlinear high-dimensional dynamical systems that may exhibit multiple complex phenomena both in time and space. Reduced Order Modeling (ROM) of fluid flows has been an active research topic in the recent decade…

Integration of machine learning (ML) models of unresolved dynamics into numerical simulations of fluid dynamics has been demonstrated to improve the accuracy of coarse resolution simulations. However, when trained in a purely offline mode,…

We propose a new finetuning method to provide pre-trained large language models (LMs) the ability to scale test-time compute through the diffusion framework. By increasing the number of diffusion steps, we show our finetuned models achieve…

High-fidelity physics simulations are powerful tools in the design and optimization of charged particle accelerators. However, the computational burden of these simulations often limits their use in practice for design optimization and…

Autonomous cyber-physical systems like robots and self-driving cars could greatly benefit from using formal methods to reason reliably about their control decisions. However, before a problem can be solved it needs to be stated. This…

Structural Health Monitoring (SHM) is a critical task for ensuring the safety and reliability of civil infrastructures, typically realized on bridges and viaducts by means of vibration monitoring. In this paper, we propose for the first…

The development of novel materials in recent years has been accelerated greatly by the use of computational modelling techniques aimed at elucidating the complex physics controlling microstructure formation in materials, the properties of…

Federated learning (FL) has emerged as a key technique for distributed machine learning (ML). Most literature on FL has focused on ML model training for (i) a single task/model, with (ii) a synchronous scheme for updating model parameters,…

Fitting parametric models of human bodies, hands or faces to sparse input signals in an accurate, robust, and fast manner has the promise of significantly improving immersion in AR and VR scenarios. A common first step in systems that…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

State estimation is important for a variety of tasks, from forecasting to substituting for unmeasured states in feedback controllers. Performing real-time state estimation for PDEs using provably and rapidly converging observers, such as…

Autonomous Driving (AD) encounters significant safety hurdles in long-tail unforeseen driving scenarios, largely stemming from the non-interpretability and poor generalization of the deep neural networks within the AD system, particularly…

Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…