相关论文: Compositional Learning of Dynamical System Models …

Deep learning has achieved great success in modeling dynamical systems, providing data-driven simulators to predict complex phenomena, even without known governing equations. However, existing models have two major limitations: their narrow…

Learning dynamical systems through purely data-driven methods is challenging as they do not learn the underlying conservation laws that enable them to correctly generalize. Existing port-Hamiltonian neural network methods have recently been…

Hybrid machine learning based on Hamiltonian formulations has recently been successfully demonstrated for simple mechanical systems, both energy conserving and not energy conserving. We introduce a pseudo-Hamiltonian formulation that is a…

The ability to continually learn, retain and deploy skills to accomplish goals is a key feature of intelligent and efficient behavior. However, the neural mechanisms facilitating the continual learning and flexible (re-)composition of…

Computer vision systems in real-world applications need to be robust to partial occlusion while also being explainable. In this work, we show that black-box deep convolutional neural networks (DCNNs) have only limited robustness to partial…

To solve a new task from minimal experience, it is essential to effectively reuse knowledge from previous tasks, a problem known as meta-learning. Compositional solutions, where common elements of computation are flexibly recombined into…

The port-Hamiltonian modelling framework allows for models that preserve essential physical properties such as energy conservation or dissipative inequalities. If all subsystems are modelled as port-Hamiltonian systems and the inputs are…

A framework for identifying nonlinear port-Hamiltonian systems using input-state-output data is introduced. The framework utilizes neural networks' universal approximation capacity to effectively represent complex dynamics in a structured…

Hybrid systems are a compact and natural mechanism with which to address problems in robotics. This work introduces an approach to learning hybrid systems from demonstrations, with an emphasis on extracting models that are explicitly…

The predominant knowledge-based approach to automated model construction, compositional modelling, employs a set of models of particular functional components. Its inference mechanism takes a scenario describing the constituent interacting…

Port-Hamiltonian neural networks have shown promising results in the identification of nonlinear dynamics of complex systems, as their combination of physical principles with data-driven learning allows for accurate modelling. However, due…

Identifying the underlying dynamics of physical systems can be challenging when only provided with observational data. In this work, we consider systems that can be modelled as first-order ordinary differential equations. By assuming a…

In several applications, including in synthetic biology, one often has input/output data on a system composed of many modules, and although the modules' input/output functions and signals may be unknown, knowledge of the composition…

Convolutional neural networks (CNNs) have shown great success in computer vision, approaching human-level performance when trained for specific tasks via application-specific loss functions. In this paper, we propose a method for augmenting…

Though modern neural networks have achieved impressive performance in both vision and language tasks, we know little about the functions that they implement. One possibility is that neural networks implicitly break down complex tasks into…

Tree-structured neural networks have proven to be effective in learning semantic representations by exploiting syntactic information. In spite of their success, most existing models suffer from the underfitting problem: they recursively use…

The ability to predict trajectories of surrounding agents and obstacles is a crucial component in many robotic applications. Data-driven approaches are commonly adopted for state prediction in scenarios where the underlying dynamics are…

We explore the use of Physics Informed Neural Networks to analyse nonlinear Hamiltonian Dynamical Systems with a first integral of motion. In this work, we propose an architecture which combines existing Hamiltonian Neural Network…

There has been a wave of interest in applying machine learning to study dynamical systems. We present a Hamiltonian neural network that solves the differential equations that govern dynamical systems. This is an equation-driven machine…

We introduce the hierarchical compositional network (HCN), a directed generative model able to discover and disentangle, without supervision, the building blocks of a set of binary images. The building blocks are binary features defined…