相关论文: Solving Physics Puzzles by Reasoning about Paths

Intrinsically motivated goal exploration processes enable agents to autonomously sample goals to explore efficiently complex environments with high-dimensional continuous actions. They have been applied successfully to real world robots to…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Harnessing data to discover the underlying governing laws or equations that describe the behavior of complex physical systems can significantly advance our modeling, simulation and understanding of such systems in various science and…

In this work, we propose a learning method for solving the linear transport equation under the diffusive scaling. Due to the multiscale nature of our model equation, the model is challenging to solve by using conventional methods. We employ…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

High-performance traffic flow prediction model designing, a core technology of Intelligent Transportation System, is a long-standing but still challenging task for industrial and academic communities. The lack of integration between…

Interacting particle systems play a key role in science and engineering. Access to the governing particle interaction law is fundamental for a complete understanding of such systems. However, the inherent system complexity keeps the…

This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…

This position paper takes a broad look at Physics-Enhanced Machine Learning (PEML) -- also known as Scientific Machine Learning -- with particular focus to those PEML strategies developed to tackle dynamical systems' challenges. The need to…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…

While grasps must satisfy the grasping stability criteria, good grasps depend on the specific manipulation scenario: the object, its properties and functionalities, as well as the task and grasp constraints. In this paper, we consider such…

The development of self-propelled particles at the micro- and the nanoscale has sparked a huge potential for future applications in active matter physics, microsurgery, and targeted drug delivery. However, while the latter applications…

Existing benchmarks fail to capture a crucial aspect of intelligence: physical reasoning, the integrated ability to combine domain knowledge, symbolic reasoning, and understanding of real-world constraints. To address this gap, we introduce…

Spatial perception aims to estimate camera motion and scene structure from visual observations, a problem traditionally addressed through geometric modeling and physical consistency constraints. Recent learning-based methods have…

Car-following behavior has been extensively studied using physics-based models, such as the Intelligent Driver Model. These models successfully interpret traffic phenomena observed in the real-world but may not fully capture the complex…

We applied physics-informed neural networks to solve the constitutive relations for nonlinear, path-dependent material behavior. As a result, the trained network not only satisfies all thermodynamic constraints but also instantly provides…

Recent advances of data-driven machine learning have revolutionized fields like computer vision, reinforcement learning, and many scientific and engineering domains. In many real-world and scientific problems, systems that generate data are…

Modeling nonlinear spatiotemporal dynamical systems has primarily relied on partial differential equations (PDEs). However, the explicit formulation of PDEs for many underexplored processes, such as climate systems, biochemical reaction and…

Recent advancements in physics-based character animation leverage deep learning to generate agile and natural motion, enabling characters to execute movements such as backflips, boxing, and tennis. However, reproducing the selection and use…