相关论文: LEARNEST: LEARNing Enhanced Model-based State ESTi…

Recent works exploring deep learning application to dynamical systems modeling have demonstrated that embedding physical priors into neural networks can yield more effective, physically-realistic, and data-efficient models. However, in the…

We propose a neural network based approach for extracting models from dynamic data using ordinary and partial differential equations. In particular, given a time-series or spatio-temporal dataset, we seek to identify an accurate governing…

State inference and parameter learning in sequential models can be successfully performed with approximation techniques that maximize the evidence lower bound to the marginal log-likelihood of the data distribution. These methods may be…

Data-driven modeling of constrained multibody dynamics remains challenged by (i) the training cost of Neural ODEs, which typically require backpropagation through an ODE solver, and (ii) error accumulation in rollout predictions. We…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

Forecasting multivariate hidden Markov processes is challenging due to nonlinear and nonstationary observations, latent state transitions, and cross-sequence dependencies. While deep learning methods achieve strong predictive accuracy, they…

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…

In this paper, we address the issue of modeling and estimating changes in the state of the spatio-temporal dynamical systems based on a sequence of observations like video frames. Traditional numerical simulation systems depend largely on…

Accurate estimation of spatial derivatives from discrete and noisy data is central to scientific machine learning and numerical solutions of PDEs. We extend kinetic-based regularization (KBR), a localized multidimensional kernel regression…

We present the Koopman State Estimator (KoopSE), a framework for model-free batch state estimation of control-affine systems that makes no linearization assumptions, requires no problem-specific feature selections, and has an inference…

Differentiable Filters, as recursive Bayesian estimators, possess the ability to learn complex dynamics by deriving state transition and measurement models exclusively from data. This data-driven approach eliminates the reliance on explicit…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…

Complex systems in science and engineering sometimes exhibit behavior that changes across different regimes. Traditional global models struggle to capture the full range of this complex behavior, limiting their ability to accurately…

Generating context-adaptive manipulation and grasping actions is a challenging problem in robotics. Classical planning and control algorithms tend to be inflexible with regard to parameterization by external variables such as object shapes.…

This paper presents the Jump Markov Filtering Network (JMFNet), a novel model-based deep learning framework for real-time state-state estimation in jump Markov systems with unknown noise statistics and mode transition dynamics. A hybrid…

We address the tasks of Bayesian state estimation and forecasting for a model-free process in an unsupervised learning setup. For a model-free process, we do not have any a-priori knowledge of the process dynamics. In the article, we…

Deep Learning has received increased attention due to its unbeatable success in many fields, such as computer vision, natural language processing, recommendation systems, and most recently in simulating multiphysics problems and predicting…

Discovering hidden physical laws and identifying governing system parameters from sparse observations are central challenges in computational science and engineering. Existing data-driven methods, such as physics-informed neural networks…

Predicting the evolution of complex systems governed by partial differential equations (PDEs) remains challenging, especially for nonlinear, chaotic behaviors. This study introduces Koopman-inspired Fourier Neural Operators (kFNO) and…