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

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…

We present a simple, modular graph-based convolutional neural network that takes structural information from protein-ligand complexes as input to generate models for activity and binding mode prediction. Complex structures are generated by…

We present a data-driven modeling strategy to overcome improperly modeled dynamics for systems exhibiting complex spatio-temporal behaviors. We propose a Deep Learning framework to resolve the differences between the true dynamics of the…

Modeling complex physical dynamics is a fundamental task in science and engineering. Traditional physics-based models are sample efficient, and interpretable but often rely on rigid assumptions. Furthermore, direct numerical approximation…

The robotic systems continuously interact with complex dynamical systems in the physical world. Reliable predictions of spatiotemporal evolution of these dynamical systems, with limited knowledge of system dynamics, are crucial for…

In this paper, a machine learning-based simulation framework of general-purpose multibody dynamics is introduced. The aim of the framework is to generate a well-trained meta-model of multibody dynamics (MBD) systems. To this end, deep…

To fully understand, analyze, and determine the behavior of dynamical systems, it is crucial to identify their intrinsic modal coordinates. In nonlinear dynamical systems, this task is challenging as the modal transformation based on the…

An old idea in optimization theory says that since the gradient is a dual vector it may not be subtracted from the weights without first being mapped to the primal space where the weights reside. We take this idea seriously in this paper…

We develop a framework for combining differentiable programming languages with neural networks. Using this framework we create end-to-end trainable systems that learn to write interpretable algorithms with perceptual components. We explore…

Complex systems are often decomposed into modular subsystems for engineering tractability. Although various equation based white-box modeling techniques make use of such structure, learning based methods have yet to incorporate these ideas…

Feed-forward neural networks (FNNs) work as standard building blocks in applying artificial intelligence (AI) to the physical world. They allow learning the dynamics of unknown physical systems (e.g., biological and chemical) {to predict…

Many prediction problems, such as those that arise in the context of robotics, have a simplifying underlying structure that, if known, could accelerate learning. In this paper, we present a strategy for learning a set of neural network…

Grey-box methods for system identification combine deep learning with physics-informed constraints, capturing complex dependencies while improving out-of-distribution generalization. Despite the growing importance of floating-base systems…

We develop inductive biases for the machine learning of complex physical systems based on the port-Hamiltonian formalism. To satisfy by construction the principles of thermodynamics in the learned physics (conservation of energy,…

Recently, graph neural networks have been gaining a lot of attention to simulate dynamical systems due to their inductive nature leading to zero-shot generalizability. Similarly, physics-informed inductive biases in deep-learning frameworks…

Recently, computational modeling has shifted towards the use of deep learning, and other data-driven modeling frameworks. Although this shift in modeling holds promise in many applications like design optimization and real-time control by…

The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…

When modeling dynamical systems from real-world data samples, the distribution of data often changes according to the environment in which they are captured, and the dynamics of the system itself vary from one environment to another.…

Neural networks leverage robust internal representations in order to generalise. Learning them is difficult, and often requires a large training set that covers the data distribution densely. We study a common setting where our task is not…

We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where…