相关论文: Metalearning generalizable dynamics from trajector…

Augmenting mechanistic ordinary differential equation (ODE) models with machine-learnable structures is an novel approach to create highly accurate, low-dimensional models of engineering systems incorporating both expert knowledge and…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

In this paper, we propose Meta-SysId, a meta-learning approach to model sets of systems that have behavior governed by common but unknown laws and that differentiate themselves by their context. Inspired by classical…

In this article we address the question whether it is possible to learn the differential equations describing the physical properties of a dynamical system, subject to non-conservative forces, from observations of its realspace…

In this paper, we propose to model the video dynamics by learning the trajectory of independently inverted latent codes from GANs. The entire sequence is seen as discrete-time observations of a continuous trajectory of the initial latent…

In this paper we target the problem of transferring policies across multiple environments with different dynamics parameters and motor noise variations, by introducing a framework that decouples the processes of policy learning and system…

In this study, we propose parameter-varying neural ordinary differential equations (NODEs) where the evolution of model parameters is represented by partition-of-unity networks (POUNets), a mixture of experts architecture. The proposed…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Multimodal graphs, where nodes contain heterogeneous features such as images and text, are increasingly common in real-world applications. Effectively learning on such graphs requires both adaptive intra-modal message passing and efficient…

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…

Grasping inhomogeneous objects in real-world applications remains a challenging task due to the unknown physical properties such as mass distribution and coefficient of friction. In this study, we propose a meta-learning algorithm called…

Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency…

We describe a method for the identification of models for dynamical systems from observational data. The method is based on the concept of symbolic regression and uses genetic programming to evolve a system of ordinary differential…

Imitation learning has proven to be a powerful tool for training complex visuomotor policies. However, current methods often require hundreds to thousands of expert demonstrations to handle high-dimensional visual observations. A key reason…

Imitation learning is a paradigm to address complex motion planning problems by learning a policy to imitate an expert's behavior. However, relying solely on the expert's data might lead to unsafe actions when the robot deviates from the…

Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…

Experimental data is often comprised of variables measured independently, at different sampling rates (non-uniform ${\Delta}$t between successive measurements); and at a specific time point only a subset of all variables may be sampled.…

We present a method for learning generalized Hamiltonian decompositions of ordinary differential equations given a set of noisy time series measurements. Our method simultaneously learns a continuous time model and a scalar energy function…

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…

We present a novel method for learning reduced-order models of dynamical systems using nonlinear manifolds. First, we learn the manifold by identifying nonlinear structure in the data through a general representation learning problem. The…