相关论文: ModLaNets: Learning Generalisable Dynamics via Mod…

Deep learning has been widely used within learning algorithms for robotics. One disadvantage of deep networks is that these networks are black-box representations. Therefore, the learned approximations ignore the existing knowledge of…

Effective inclusion of physics-based knowledge into deep neural network models of dynamical systems can greatly improve data efficiency and generalization. Such a-priori knowledge might arise from physical principles (e.g., conservation…

Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or black-box modeling using neural networks, can suffer from high…

By incorporating physical consistency as inductive bias, deep neural networks display increased generalization capabilities and data efficiency in learning nonlinear dynamic models. However, the complexity of these models generally…

Physical systems are commonly represented as a combination of particles, the individual dynamics of which govern the system dynamics. However, traditional approaches require the knowledge of several abstract quantities such as the energy or…

Deep learning has achieved astonishing results on many tasks with large amounts of data and generalization within the proximity of training data. For many important real-world applications, these requirements are unfeasible and additional…

Realistic models of physical world rely on differentiable symmetries that, in turn, correspond to conservation laws. Recent works on Lagrangian and Hamiltonian neural networks show that the underlying symmetries of a system can be easily…

Lagrangian and Hamiltonian neural networks (LNNs and HNNs, respectively) encode strong inductive biases that allow them to outperform other models of physical systems significantly. However, these models have, thus far, mostly been limited…

Advancements in artificial intelligence call for a deeper understanding of the fundamental mechanisms underlying deep learning. In this work, we propose a theoretical framework to analyze learning dynamics through the lens of dynamical…

Identifying accurate dynamic models is required for the simulation and control of various technical systems. In many important real-world applications, however, the two main modeling approaches often fail to meet requirements: first…

Applying Deep Learning to control has a lot of potential for enabling the intelligent design of robot control laws. Unfortunately common deep learning approaches to control, such as deep reinforcement learning, require an unrealistic amount…

Physics-inspired neural networks (NNs), such as Hamiltonian or Lagrangian NNs, dramatically outperform other learned dynamics models by leveraging strong inductive biases. These models, however, are challenging to apply to many real world…

Even though neural networks enjoy widespread use, they still struggle to learn the basic laws of physics. How might we endow them with better inductive biases? In this paper, we draw inspiration from Hamiltonian mechanics to train models…

Combining deep learning with classical physics facilitates the efficient creation of accurate dynamical models. In a recent class of neural network, Lagrangian mechanics is hard-coded into the architecture, and training the network learns…

We apply the physics-learning duality to molecular systems by complementing the physical description of interacting particles with a dual learning description, where each particle is modeled as an agent minimizing a loss function. In the…

Despite successful seminal works on passive systems in the literature, learning free-form physical laws for controlled dynamical systems given experimental data is still an open problem. For decades, symbolic mathematical equations and…

Accurately learning the temporal behavior of dynamical systems requires models with well-chosen learning biases. Recent innovations embed the Hamiltonian and Lagrangian formalisms into neural networks and demonstrate a significant…

Reasoning about the physical world requires models that are endowed with the right inductive biases to learn the underlying dynamics. Recent works improve generalization for predicting trajectories by learning the Hamiltonian or Lagrangian…

Identifying the dynamics of physical systems requires a machine learning model that can assimilate observational data, but also incorporate the laws of physics. Neural Networks based on physical principles such as the Hamiltonian or…

Structure-preserving approaches to dynamics discovery have demonstrated great potential for modeling physical systems due to their use of strong inductive biases, which enforce key features such as conservation laws and dissipative…