相关论文: Geometry-informed dynamic mode decomposition in or…

Decomposing multivariate time series with certain basic dynamics is crucial for understanding, predicting and controlling nonlinear spatiotemporally dynamic systems such as the brain. Dynamic mode decomposition (DMD) is a method for…

The understanding and modeling of complex physical phenomena through dynamical systems has historically driven scientific progress, as it provides the tools for predicting the behavior of different systems under diverse conditions through…

This paper provides an algorithmic pipeline for studying the intrinsic structure of a finite discrete dynamical system (DDS) modelling an evolving phenomenon. Here, by intrinsic structure we mean, regarding the dynamics of the DDS under…

The dynamic mode decomposition (DMD) technique extracts the dominant modes characterizing the innate dynamical behavior of the system within the measurement data. For appropriate identification of dominant modes from the measurement data,…

Generative models have recently gained increasing attention in image generation and editing tasks. However, they often lack a direct connection to object geometry, which is crucial in sensitive domains such as computational anatomy,…

Orthogonal Gradient Descent (OGD) has emerged as a powerful method for continual learning. However, its Euclidean projections do not leverage the underlying information-geometric structure of the problem, which can lead to suboptimal…

This work harnesses interpretable machine learning methods to address the challenging inverse design problem of origami-inspired systems. We show that a decision tree-random forest method is particularly suitable for fitting origami…

Rapid developments in advanced sensing and imaging have significantly enhanced information visibility, opening opportunities for predictive modeling of complex dynamic systems. However, sensing signals acquired from such complex systems are…

Programmable folding of elastic sheets typically relies on predefined flexible creases or active materials-enabled hinges, which lack intrinsic bistability and limit reprogrammability within a single structure. Here, we present a…

Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. Here we construct and study a class of origami springs generalized from the known…

Elastic topological states have been receiving increased intention in numerous scientific and engineering fields due to their defect-immune nature, resulting in applications of vibration control and information processing. Here, we present…

Reconfigurable mechanical systems enable precise programmable control over structural properties, opening new opportunities in architected materials, adaptive devices, and multifunctional structures. Here, we introduce elastic rod origami…

We propose a new method for computing Dynamic Mode Decomposition (DMD) evolution matrices, which we use to analyze dynamical systems. Unlike the majority of existing methods, our approach is based on a variational formulation consisting of…

Incorporating a priori physics knowledge into machine learning leads to more robust and interpretable algorithms. In this work, we combine deep learning techniques and classic numerical methods for differential equations to address two…

Many real-world systems, such as moving planets, can be considered as multi-agent dynamic systems, where objects interact with each other and co-evolve along with the time. Such dynamics is usually difficult to capture, and understanding…

Modeling wave energy converters (WECs) to accurately predict their hydrodynamic behavior has been a challenge for the wave energy field. Often, this results in either low-fidelity, linear models that break down in energetic seas, or…

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…

System inference for nonlinear dynamic models, represented by ordinary differential equations (ODEs), remains a significant challenge in many fields, particularly when the data are noisy, sparse, or partially observable. In this paper, we…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

Generative models like Generative Adversarial Networks (GANs) and Variational Autoencoders (VAEs) often fail to capture the full diversity of their training data, leading to mode collapse. While this issue is well-explored in image…