相关论文: Learning Complex Motion Plans using Neural ODEs wi…

A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…

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…

Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…

Neural ODEs (NODEs) are continuous-time neural networks (NNs) that can process data without the limitation of time intervals. They have advantages in learning and understanding the evolution of complex real dynamics. Many previous works…

As power systems transition toward renewable-rich and inverter-dominated operations, accurate time-domain dynamic analysis becomes increasingly critical. Such analysis supports key operational tasks, including transient stability…

The deployment of learning-based models in safety-critical control systems demands mathematical guarantees that standard regression architectures cannot provide. This paper presents an integrated framework that bridges Neural Ordinary…

Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. The properties of the DS directly determine the robot's…

We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…

Neural networks can be fragile to input noise and adversarial attacks. In this work, we consider Convolutional Neural Ordinary Differential Equations (NODEs), a family of continuous-depth neural networks represented by dynamical systems,…

Imitation learning presents an effective approach to alleviate the resource-intensive and time-consuming nature of policy learning from scratch in the solution space. Even though the resulting policy can mimic expert demonstrations…

Machines of all kinds from vehicles to industrial equipment are increasingly instrumented with hundreds of sensors. Using such data to detect anomalous behaviour is critical for safety and efficient maintenance. However, anomalies occur…

Training Neural Ordinary Differential Equations (ODEs) is often computationally expensive. Indeed, computing the forward pass of such models involves solving an ODE which can become arbitrarily complex during training. Recent works have…

Discrete-time fractional-order dynamical systems (DT-FODS) have found innumerable applications in the context of modeling spatiotemporal behaviors associated with long-term memory. Applications include neurophysiological signals such as…

Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, we propose a practical and theoretically-justified approach…

Despite the promise of scientific machine learning (SciML) in combining data-driven techniques with mechanistic modeling, existing approaches for incorporating hard constraints in neural differential equations (NDEs) face significant…

Neural Ordinary Differential Equations (N-ODEs) are a powerful building block for learning systems, which extend residual networks to a continuous-time dynamical system. We propose a Bayesian version of N-ODEs that enables well-calibrated…

We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…

Numerical simulation of ordinary differential equations (ODEs) can be challenging when the system exhibits high accelerations and rapidly changing dynamics. Under these conditions the ODE solver often needs to take very small time steps in…

Partial Differential Equations (PDEs) are central to science and engineering. Since solving them is computationally expensive, a lot of effort has been put into approximating their solution operator via both traditional and recently…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…