相关论文: Expressiveness and Structure Preservation in Learn…

We study the problem of learning the parameters for the Hamiltonian of a quantum many-body system, given limited access to the system. In this work, we build upon recent approaches to Hamiltonian learning via derivative estimation. We…

Catastrophic forgetting is a pervasive issue for pre-trained language models (PLMs) during continual learning, where models lose previously acquired knowledge when sequentially trained on a series of tasks. The model's ability to retain old…

We present a numerical approach for approximating unknown Hamiltonian systems using observation data. A distinct feature of the proposed method is that it is structure-preserving, in the sense that it enforces conservation of the…

We investigate the extent to which modern, neural language models are susceptible to structural priming, the phenomenon whereby the structure of a sentence makes the same structure more probable in a follow-up sentence. We explore how…

This article describes an approach for parametrizing input and state trajectories in model predictive control. The parametrization is designed to be invariant to time shifts, which enables warm-starting the successive optimization problems…

It is well known that any port-Hamiltonian (pH) system is passive, and conversely, any minimal and stable passive system has a pH representation. Nevertheless, this equivalence is only concerned with the input-output mapping but not with…

This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike…

In this paper, we systematically construct two classes of structure-preserving schemes with arbitrary order of accuracy for canonical Hamiltonian systems. The one class is the symplectic scheme, which contains two new families of…

Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a complex environment. A control design that generalizes to…

The class of port-Hamiltonian systems incorporates many physical models, such as mechanical systems in the finite-dimensional case and wave and beam equations in the infinite-dimensional case. In this paper we study a subclass of linear…

In this paper we prove that a large class of linear evolution PDEs defines a Stokes-Dirac structure over Hilbert spaces. To do so, the theory of boundary control system is employed. This definition encompasses problems from mechanics, that…

This paper introduces new model parameterizations for learning discrete-time dynamical systems from data via the Koopman operator and studies their properties. Whereas most existing works on Koopman learning do not take into account the…

Implicit representations of finite-dimensional port-Hamiltonian systems are studied from the perspective of their use in numerical simulation and control design. Implicit representations arise when a system is modeled in Cartesian…

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…

In this paper, we present neural networks learning mechanical systems that are both symplectic (for instance particle mechanics) and non-symplectic (for instance rotating rigid body). Mechanical systems have Hamiltonian evolution, which…

By extending the extreme learning machine by additional control inputs, we achieved almost complete reproduction of bifurcation structures of dynamical systems. The learning ability of the proposed neural network system is striking in that…

In this work, we conduct a systematic study of Hamiltonian and quasi-Hamiltonian systems within the framework of nondecomposable generalized Poisson geometry. Our focus lies on the interplay between the algebraic structure of…

We present a novel machine learning architecture that uses the exponential of a single input-dependent matrix as its only nonlinearity. The mathematical simplicity of this architecture allows a detailed analysis of its behaviour, providing…

Hamiltonian systems are differential equations which describe systems in classical mechanics, plasma physics, and sampling problems. They exhibit many structural properties, such as a lack of attractors and the presence of conservation…

We present a gradient-based identification algorithm to identify the system matrices of a linear port-Hamiltonian system from given input-output time data. Aiming for a direct structure-preserving approach, we employ techniques from optimal…