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

Learning high-performance deep neural networks for dynamic modeling of high Degree-Of-Freedom (DOF) robots remains challenging due to the sampling complexity. Typical unknown system disturbance caused by unmodeled dynamics (such as internal…

Recent years have witnessed a growing interest in tracking algorithms that augment Kalman Filters (KFs) with Deep Neural Networks (DNNs). By transforming KFs into trainable deep learning models, one can learn from data to reliably track a…

Understanding and modeling nonlinear dynamical systems is a fundamental challenge across science and engineering. Deep learning has shown remarkable potential for capturing complex system behavior, yet achieving models that are both…

When learning dynamical systems from data, embedding physical structure can constrain the solution space and improve generalization, but many physics-informed models assume access to the full system state. This limits their use in partially…

Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is typically not available in practical settings and must be…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

The identification of a mathematical dynamics model is a crucial step in the designing process of a controller. However, it is often very difficult to identify the system's governing equations, especially in complex environments that…

The core objective of machine-assisted scientific discovery is to learn physical laws from experimental data without prior knowledge of the systems in question. In the area of quantum physics, making progress towards these goals is…

The accurate estimation of the state of complex uncertain physical systems requires reconciling theoretical models, with inherent imperfections, with noisy experimental data. In this work, we propose an effective hybrid approach that…

Understanding decentralized dynamics from collective behaviors in swarms is crucial for informing robot controller designs in artificial swarms and multiagent robotic systems. However, the complexity in agent-to-agent interactions and 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…

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…

In this letter, we propose an Attention-Based Neural-Augmented Kalman Filter (AttenNKF) for state estimation in legged robots. Foot slip is a major source of estimation error: when slip occurs, kinematic measurements violate the no-slip…

In this paper, we introduce a novel approach to centroidal state estimation, which plays a crucial role in predictive model-based control strategies for dynamic legged locomotion. Our approach uses the Koopman operator theory to transform…

Deep learning is revolutionizing weather forecasting, with new data-driven models achieving accuracy on par with operational physical models for medium-term predictions. However, these models often lack interpretability, making their…

Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…

Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…

We propose a novel deep neural network (DNN) based approximation architecture to learn estimates of measurements. We detail an algorithm that enables training of the DNN. The DNN estimator only uses measurements, if and when they are…

We extend the linear mixed-effects state model to accommodate the correlated individuals and investigate its parameter and state estimation based on disturbance smoothing in this paper. For parameter estimation, EM and score based…

For real-life nonlinear systems, the exact form of nonlinearity is often not known and the known governing equations are often based on certain assumptions and approximations. Such representation introduced model-form error into the system.…