相关论文: Learning Contact Dynamics using Physically Structu…

Discrete dynamical systems are commonly used to model the spread of contagions on real-world networks. Under the PAC framework, existing research has studied the problem of learning the behavior of a system, assuming that the underlying…

Motion tracking has been an important technique for imitating human-like movement from large-scale datasets in physics-based motion synthesis. However, existing approaches focus on tracking either single character or a particular type of…

This study presents a dynamic neural network model based on the predictive coding framework for perceiving and predicting the dynamic visuo-proprioceptive patterns. In our previous study [1], we have shown that the deep dynamic neural…

Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…

Modern learning systems increasingly interact with data that evolve over time and depend on hidden internal state. We ask a basic question: when is such a dynamical system learnable from observations alone? This paper proposes a research…

The abundance of data affords researchers to pursue more powerful computational tools to learn the dynamics of complex system, such as neural networks, engineered systems and social networks. Traditional machine learning approaches capture…

Visual scene understanding often requires the processing of human-object interactions. Here we seek to explore if and how well Deep Neural Network (DNN) models capture features similar to the brain's representation of humans, objects, and…

We consider the setting of an agent with a fixed body interacting with an unknown and uncertain external world. We show that models trained to predict proprioceptive information about the agent's body come to represent objects in the…

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…

The tracking-by-detection framework requires a set of positive and negative training samples to learn robust tracking models for precise localization of target objects. However, existing tracking models mostly treat different samples…

Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…

Many types of data from fields including natural language processing, computer vision, and bioinformatics, are well represented by discrete, compositional structures such as trees, sequences, or matchings. Latent structure models are a…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

This study investigates how dynamical systems may be learned and modelled with a neuromorphic network which is itself a dynamical system. The neuromorphic network used in this study is based on a complex electrical circuit comprised of…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

We propose a new family of neural networks to predict the behaviors of physical systems by learning their underpinning constraints. A neural projection operator lies at the heart of our approach, composed of a lightweight network with an…

While modern deep networks have demonstrated remarkable versatility, their training dynamics remain poorly understood--often driven more by empirical tweaks than architectural insight. This paper investigates how internal structural choices…

Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…

Deep Neural Networks (NNs) have been widely utilized in contact-rich manipulation tasks to model the complicated contact dynamics. However, NN-based models are often difficult to decipher which can lead to seemingly inexplicable behaviors…

Close and continuous interaction with rich contacts is a crucial aspect of human activities (e.g. hugging, dancing) and of interest in many domains like activity recognition, motion prediction, character animation, etc. However, acquiring…