相关论文: KeyCLD: Learning Constrained Lagrangian Dynamics i…
In-Context Learning (ICL) empowers Large Language Models (LLMs) with the ability to learn from a few examples provided in the prompt, enabling downstream generalization without the requirement for gradient updates. Despite encouragingly…
We propose a deep video prediction model conditioned on a single image and an action class. To generate future frames, we first detect keypoints of a moving object and predict future motion as a sequence of keypoints. The input image is…
We introduce a machine-learning approach for identifying hidden structural features of open quantum dynamics under restricted experimental access. Unlike most existing data-driven methods which focus on detection or prediction of dynamical…
Learning latent representations from complex data is central to modern machine learning, spanning temporal, multimodal, and partially observed systems. In such settings, representations are better understood as latent states capturing…
Recent whole brain imaging experiments on $\textit{C. elegans}$ has revealed that the neural population dynamics encode motor commands and stereotyped transitions between behaviors on low dimensional manifolds. Efforts to characterize the…
Deformable shape representations, parameterized by deformations relative to a given template, have proven effective for improved image analysis tasks. However, their broader applicability is hindered by two major challenges. First, existing…
Car-following models (CFMs) are fundamental to traffic flow analysis and autonomous driving. Although calibrated physics-based and trained data-driven CFMs can replicate human driving behavior, their reliance on specific datasets limits…
We propose a data-driven technique to automatically learn contextual uncertainty sets in robust optimization, resulting in excellent worst-case and average-case performance while also guaranteeing constraint satisfaction. Our method…
Stochastic control deals with finding an optimal control signal for a dynamical system in a setting with uncertainty, playing a key role in numerous applications. The linear quadratic Gaussian (LQG) is a widely-used setting, where the…
Goal-conditioned reinforcement learning is a crucial yet challenging algorithm which enables agents to achieve multiple user-specified goals when learning a set of skills in a dynamic environment. However, it typically requires millions of…
Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…
Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of…
Learning unknown dynamics under environmental (or external) constraints is fundamental to many fields (e.g., modern robotics), particularly challenging when constraint information is only locally available and uncertain. Existing approaches…
Recent studies on StyleGAN variants show promising performances for various generation tasks. In these models, latent codes have traditionally been manipulated and searched for the desired images. However, this approach sometimes suffers…
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…
Even though a variety of methods have been proposed in the literature, efficient and effective latent-space control (i.e., control in a learned low-dimensional space) of physical systems remains an open challenge. We argue that a promising…
System identification in control theory aims to approximate dynamical systems from trajectory data. While neural networks have demonstrated strong predictive accuracy, they often fail to preserve critical physical properties such as…
Learning a stable Linear Dynamical System (LDS) from data involves creating models that both minimize reconstruction error and enforce stability of the learned representation. We propose a novel algorithm for learning stable LDSs. Using a…
In many real world applications, reinforcement learning agents have to optimize multiple objectives while following certain rules or satisfying a list of constraints. Classical methods based on reward shaping, i.e. a weighted combination of…
We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…