相关论文: A Differentiable Newton Euler Algorithm for Multi-…

Obtaining dynamics models is essential for robotics to achieve accurate model-based controllers and simulators for planning. The dynamics models are typically obtained using model specification of the manufacturer or simple numerical…

The recursive Newton-Euler Algorithm (RNEA) is a popular technique for computing the dynamics of robots. RNEA can be framed as a differentiable computational graph, enabling the dynamics parameters of the robot to be learned from data via…

Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or black-box modeling using neural networks, can suffer from high…

For real-life nonlinear systems, the exact form of nonlinearity is often not known and the known governing equations are often based on certain assumptions and approximations. Such representation introduced model-form error into the system.…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

Accurate real-time modeling of multi-body dynamical systems is essential for enabling digital twin applications across industries. While many data-driven approaches aim to learn system dynamics, jointly predicting internal loads and system…

In this paper, a computationally efficient data-driven hybrid automaton model is proposed to capture unknown complex dynamical system behaviors using multiple neural networks. The sampled data of the system is divided by valid partitions…

The n body problem, fundamental to astrophysics, simulates the motion of n bodies acting under the effect of their own mutual gravitational interactions. Traditional machine learning models that are used for predicting and forecasting…

Real-world robotic applications, from autonomous exploration to assistive technologies, require adaptive, interpretable, and data-efficient learning paradigms. While deep learning architectures and foundation models have driven significant…

In this paper, the dynamic modeling of a seven linked humanoid robot, is accurately developed, in the three dimensional space using the Newton-Euler formalism. The aim of this study is to provide a clear and a systematic approach so that…

Building differentiable simulations of physical processes has recently received an increasing amount of attention. Specifically, some efforts develop differentiable robotic physics engines motivated by the computational benefits of merging…

This paper proposes a neural network hybrid modeling framework for dynamics learning to promote an interpretable, computationally efficient way of dynamics learning and system identification. First, a low-level model will be trained to…

We propose end-to-end differentiable model that predicts robot trajectories on rough offroad terrain from camera images and/or lidar point clouds. The model integrates a learnable component that predicts robot-terrain interaction forces…

Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based optimization algorithms to find the simulation parameters that best fit the observed sensor readings. Nonetheless,…

The observation and description of collective excitations in solids is a fundamental issue when seeking to understand the physics of a many-body system. Analysis of these excitations is usually carried out by measuring the dynamical…

Dynamic/kinematic model is of great significance in decision and control of intelligent vehicles. However, due to the singularity of dynamic models at low speed, kinematic models have been the only choice under many driving scenarios. This…

This work proposes a data-driven modeling and the corresponding hybrid motion control framework for unmanned and automated operation of industrial heavy-load hydraulic manipulator. Rather than the direct use of a neural network black box,…

We present that, instead of establishing the equations of motion, one can model-freely reveal the dynamical properties of a black-box system using a learning machine. Trained only by a segment of time series of a state variable recorded at…

Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…

Computing dynamical distributions in quantum many-body systems represents one of the paradigmatic open problems in theoretical condensed matter physics. Despite the existence of different techniques both in real-time and frequency space,…