相关论文: SyMetric: Measuring the Quality of Learnt Hamilton…

Machine learning methods are widely used in the natural sciences to model and predict physical systems from observation data. Yet, they are often used as poorly understood "black boxes," disregarding existing mathematical structure and…

We explore the use of Physics Informed Neural Networks to analyse nonlinear Hamiltonian Dynamical Systems with a first integral of motion. In this work, we propose an architecture which combines existing Hamiltonian Neural Network…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Recently, Hamiltonian neural networks (HNN) have been introduced to incorporate prior physical knowledge when learning the dynamical equations of Hamiltonian systems. Hereby, the symplectic system structure is preserved despite the…

Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The problem has recently been studied from a generative perspective…

The Hamiltonian formalism plays a central role in classical and quantum physics. Hamiltonians are the main tool for modelling the continuous time evolution of systems with conserved quantities, and they come equipped with many useful…

We introduce the \emph{Symplectic Generative Network (SGN)}, a deep generative model that leverages Hamiltonian mechanics to construct an invertible, volume-preserving mapping between a latent space and the data space. By endowing the…

The past few years have witnessed an increased interest in learning Hamiltonian dynamics in deep learning frameworks. As an inductive bias based on physical laws, Hamiltonian dynamics endow neural networks with accurate long-term…

The dynamics of physical systems is often constrained to lower dimensional sub-spaces due to the presence of conserved quantities. Here we propose a method to learn and exploit such symmetry constraints building upon Hamiltonian Neural…

This paper presents a method for learning Hamiltonian dynamics from a limited set of data points. The Hamiltonian vector field is found by regularized optimization over a reproducing kernel Hilbert space of vector fields that are inherently…

Hamiltonian systems are differential equations which describe systems in classical mechanics, plasma physics, and sampling problems. They exhibit many structural properties, such as a lack of attractors and the presence of conservation…

World models have recently re-emerged as a central paradigm for embodied intelligence, robotics, autonomous driving, and model-based reinforcement learning. However, current world model research is often dominated by three partially…

Distance metric learning (DML) has been studied extensively in the past decades for its superior performance with distance-based algorithms. Most of the existing methods propose to learn a distance metric with pairwise or triplet…

Inductive bias refers to restrictions on the hypothesis class that enable a learning method to generalize effectively from limited data. A canonical example in control is linearity, which underpins low sample-complexity guarantees for…

We consider the learning and prediction of nonlinear time series generated by a latent symplectic map. A special case is (not necessarily separable) Hamiltonian systems, whose solution flows give such symplectic maps. For this special case,…

Many important physical systems can be described as the evolution of a Hamiltonian system, which has the important property of being conservative, that is, energy is conserved throughout the evolution. Physics Informed Neural Networks and…

In many real-world settings, image observations of freely rotating 3D rigid bodies, such as satellites, may be available when low-dimensional measurements are not. However, the high-dimensionality of image data precludes the use of…

Hamiltonian dynamics describe a wide range of physical systems. As such, data-driven simulations of Hamiltonian systems are important for many scientific and engineering problems. In this work, we propose kernel-based methods for…

In many real-world settings, image observations of freely rotating 3D rigid bodies may be available when low-dimensional measurements are not. However, the high-dimensionality of image data precludes the use of classical estimation…

Modeling dynamical systems is important in many disciplines, e.g., control, robotics, or neurotechnology. Commonly the state of these systems is not directly observed, but only available through noisy and potentially high-dimensional…