相关论文: A Physics Enhanced Residual Learning (PERL) Framew…

The inverse Stefan problem, as a typical phase-change problem with moving boundaries, finds extensive applications in science and engineering. Recent years have seen the applications of physics-informed neural networks (PINNs) to solving…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

Multi-vehicle pursuit (MVP) such as autonomous police vehicles pursuing suspects is important but very challenging due to its mission and safety critical nature. While multi-agent reinforcement learning (MARL) algorithms have been proposed…

A data-driven model augmentation framework, referred to as Weakly-coupled Integrated Inference and Machine Learning (IIML), is presented to improve the predictive accuracy of physical models. In contrast to parameter calibration, this work…

Predicting the motion of a mobile agent from a third-person perspective is an important component for many robotics applications, such as autonomous navigation and tracking. With accurate motion prediction of other agents, robots can plan…

With a broad range of emerging applications in 6G networks, wireless traffic prediction has become a critical component of network management. However, the dynamically shifting distribution of wireless traffic in non-stationary 6G networks…

We develop a data-driven framework for learning and correcting non-autonomous vehicle dynamics. Physics-based vehicle models are often simplified for tractability and therefore exhibit inherent model-form uncertainty, motivating the need…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Physics-informed neural networks (PINNs) integrate physical laws with data-driven models to improve generalization and sample efficiency. This work introduces an open-source implementation of the Physics-Informed Neural Network with Control…

Autonomous aerial vehicles necessitate control strategies that balance computational efficiency with robust performance in dynamic operational environments. This paper proposes a model predictive control (MPC) framework for aerial platforms…

Physics-informed neural networks (PINNs) are a newly emerging research frontier in machine learning, which incorporate certain physical laws that govern a given data set, e.g., those described by partial differential equations (PDEs), into…

Physics-Informed Neural Networks (PINNs) are deep learning models that incorporate the governing physical laws of a system into the learning process, making them well-suited for solving complex scientific and engineering problems. Recently,…

Making safe and human-like decisions is an essential capability of autonomous driving systems, and learning-based behavior planning presents a promising pathway toward achieving this objective. Distinguished from existing learning-based…

In recent years, road safety has attracted significant attention from researchers and practitioners in the intelligent transport systems domain. As one of the most common and vulnerable groups of road users, pedestrians cause great concerns…

Recently, the superior performance of Transformers has made them a more robust and scalable solution for sequence modeling than traditional recurrent neural networks (RNNs). However, the effectiveness of Transformer in capturing long-term…

Anomaly detection plays a critical role in Autonomous Vehicles (AVs) by identifying unusual behaviors through perception systems that could compromise safety and lead to hazardous situations. Current approaches, which often rely on…

Accurate dynamical modeling is essential for simulation and control of embodied systems, yet first-principles models of electromechanical systems often fail to capture complex dissipative effects such as joint friction, stray losses, and…

Parameter efficient transfer learning (PETL) aims at making good use of the representation knowledge in the pre-trained large models by fine-tuning a small number of parameters. Recently, taking inspiration from the natural language…

Physics-based models of dynamical systems are often used to study engineering and environmental systems. Despite their extensive use, these models have several well-known limitations due to simplified representations of the physical…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…