相关论文: Structured Prediction for CRiSP Inverse Kinematics…

Learning-based methods for inverse problems, adapting to the data's inherent structure, have become ubiquitous in the last decade. Besides empirical investigations of their often remarkable performance, an increasing number of works…

Structural learning, a method to estimate the parameters for discrete energy minimization, has been proven to be effective in solving computer vision problems, especially in 3D scene parsing. As the complexity of the models increases,…

Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…

Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term…

We discuss the possibility to learn a data-driven explicit model correction for inverse problems and whether such a model correction can be used within a variational framework to obtain regularised reconstructions. This paper discusses the…

Robust causal discovery from observational data under imperfect prior knowledge remains a significant and largely unresolved challenge. Existing methods typically presuppose perfect priors or can only handle specific, pre-identified error…

This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of…

We study a theoretical and algorithmic framework for structured prediction in the online learning setting. The problem of structured prediction, i.e. estimating function where the output space lacks a vectorial structure, is well studied in…

While trade-offs between modeling effort and model accuracy remain a major concern with system identification, resorting to data-driven methods often leads to a complete disregard for physical plausibility. To address this issue, we propose…

Key to structured prediction is exploiting the problem structure to simplify the learning process. A major challenge arises when data exhibit a local structure (e.g., are made by "parts") that can be leveraged to better approximate the…

Incorporating a priori physics knowledge into machine learning leads to more robust and interpretable algorithms. In this work, we combine deep learning techniques and classic numerical methods for differential equations to address two…

Trajectory Prediction of dynamic objects is a widely studied topic in the field of artificial intelligence. Thanks to a large number of applications like predicting abnormal events, navigation system for the blind, etc. there have been many…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…

We present an approach to learn fast and dynamic robot motions without exceeding limits on the position $\theta$, velocity $\dot{\theta}$, acceleration $\ddot{\theta}$ and jerk $\dddot{\theta}$ of each robot joint. Movements are generated…

Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the…

Selecting the best regularization parameter in inverse problems is a classical and yet challenging problem. Recently, data-driven approaches have become popular to tackle this challenge. These approaches are appealing since they do require…

The ability to achieve and maintain inverted poses is essential for unlocking the full agility of miniature blimp robots (MBRs). However, developing reliable inverted control strategies for MBRs remains challenging due to their complex and…

Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…

Classical supervised learning produces unreliable models when training and target distributions differ, with most existing solutions requiring samples from the target domain. We propose a proactive approach which learns a relationship in…

Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…