相关论文: Metalearning generalizable dynamics from trajector…

We propose a hybrid neural network (NN) and PDE approach for learning generalizable PDE dynamics from motion observations. Many NN approaches learn an end-to-end model that implicitly models both the governing PDE and constitutive models…

Dynamical systems in the life sciences are often composed of complex mixtures of overlapping behavioral regimes. Cellular subpopulations may shift from cycling to equilibrium dynamics or branch towards different developmental fates. The…

This work presents an instance-agnostic learning framework that fuses vision with dynamics to simultaneously learn shape, pose trajectories, and physical properties via the use of geometry as a shared representation. Unlike many contact…

Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…

Dynamical systems are found in innumerable forms across the physical and biological sciences, yet all these systems fall naturally into universal equivalence classes: conservative or dissipative, stable or unstable, compressible or…

We study the fundamental problem of learning a marginally stable unknown nonlinear dynamical system. We describe an algorithm for this problem, based on the technique of spectral filtering, which learns a mapping from past observations to…

For models to generalize under unseen domains (a.k.a domain generalization), it is crucial to learn feature representations that are domain-agnostic and capture the underlying semantics that makes up an object category. Recent advances…

Data-driven modeling of dynamical systems is a crucial area of machine learning. In many scenarios, a thorough understanding of the model's behavior becomes essential for practical applications. For instance, understanding the behavior of a…

Modeling dynamical systems is important in many disciplines, e.g., control, robotics, or neurotechnology. Commonly the state of these systems is not directly observed, but only available through noisy and potentially high-dimensional…

We present a mathematical and computational framework for the problem of learning a dynamical system from noisy observations of a few trajectories and subject to side information. Side information is any knowledge we might have about the…

The Macroscopic Fundamental Diagram is a popular tool used to describe traffic dynamics in an aggregated way, with applications ranging from traffic control to incident analysis. However, estimating the MFD for a given network requires…

We present a novel approach (DyNODE) that captures the underlying dynamics of a system by incorporating control in a neural ordinary differential equation framework. We conduct a systematic evaluation and comparison of our method and…

Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and deformable terrains. It would be of great benefit for robots to…

Reprogrammable mechanical metamaterials, composed of a lattice of discretely adaptive elements, are emerging as a promising platform for mechanical intelligence. To operate in unknown environments, such structures must go beyond passive…

We consider the problem of learning the dynamics of autonomous linear systems (i.e., systems that are not affected by external control inputs) from observations of multiple trajectories of those systems, with finite sample guarantees.…

Learning adaptable policies is crucial for robots to operate autonomously in our complex and quickly changing world. In this work, we present a new meta-learning method that allows robots to quickly adapt to changes in dynamics. In contrast…

Imitation learning by behavioral cloning is a prevalent method that has achieved some success in vision-based autonomous driving. The basic idea behind behavioral cloning is to have the neural network learn from observing a human expert's…

Distilling analytical models from data has the potential to advance our understanding and prediction of nonlinear dynamics. Although discovery of governing equations based on observed system states (e.g., trajectory time series) has…

Many important problems in science and engineering require solving the so-called parametric partial differential equations (PDEs), i.e., PDEs with different physical parameters, boundary conditions, shapes of computational domains, etc.…

Frame reconstruction (current or future frame) based on Auto-Encoder (AE) is a popular method for video anomaly detection. With models trained on the normal data, the reconstruction errors of anomalous scenes are usually much larger than…