相关论文: Lift & Learn: Physics-informed machine learning fo…

Physics-constrained data-driven computing is an emerging computational paradigm that allows simulation of complex materials directly based on material database and bypass the classical constitutive model construction. However, it remains…

While non-prehensile manipulation (e.g., controlled pushing/poking) constitutes a foundational robotic skill, its learning remains challenging due to the high sensitivity to complex physical interactions involving friction and restitution.…

Recently developed reduced-order modeling techniques aim to approximate nonlinear dynamical systems on low-dimensional manifolds learned from data. This is an effective approach for modeling dynamics in a post-transient regime where the…

A key task in the field of modeling and analyzing nonlinear dynamical systems is the recovery of unknown governing equations from measurement data only. There is a wide range of application areas for this important instance of system…

Machine learning offers an intriguing alternative to first-principles analysis for discovering new physics from experimental data. However, to date, purely data-driven methods have only proven successful in uncovering physical laws…

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…

The present paper treats the identification of nonlinear dynamical systems using Koopman-based deep state-space encoders. Through this method, the usual drawback of needing to choose a dictionary of lifting functions a priori is…

Manipulating data, such as weighting data examples or augmenting with new instances, has been increasingly used to improve model training. Previous work has studied various rule- or learning-based approaches designed for specific types of…

The identification of a mathematical dynamics model is a crucial step in the designing process of a controller. However, it is often very difficult to identify the system's governing equations, especially in complex environments that…

Learning the distance metric between pairs of examples is of great importance for learning and visual recognition. With the remarkable success from the state of the art convolutional neural networks, recent works have shown promising…

Lagrangian and Hamiltonian neural networks (LNNs and HNNs, respectively) encode strong inductive biases that allow them to outperform other models of physical systems significantly. However, these models have, thus far, mostly been limited…

Identifying the governing equations of a nonlinear dynamical system is key to both understanding the physical features of the system and constructing an accurate model of the dynamics that generalizes well beyond the available data. We…

Low-rank modeling plays a pivotal role in signal processing and machine learning, with applications ranging from collaborative filtering, video surveillance, medical imaging, to dimensionality reduction and adaptive filtering. Many modern…

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…

Formal verification provides a powerful framework for proving that dynamical systems satisfy their specifications. However, these techniques face scalability challenges in high-dimensional settings, as they often rely on state-space…

Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…

Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. Classical approaches rely on…

We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…

The rapid progress in machine learning methods has been empowered by i) huge datasets that have been collected and annotated, ii) improved engineering (e.g. data pre-processing/normalization). The existing datasets typically include several…

This paper introduces a physics-informed machine learning approach for pathloss prediction. This is achieved by including in the training phase simultaneously (i) physical dependencies between spatial loss field and (ii) measured pathloss…