相关论文: Closing the gap: Optimizing Guidance and Control N…

A central question in robotics is how to design a control system for an agile mobile robot. This paper studies this question systematically, focusing on a challenging setting: autonomous drone racing. We show that a neural network…

We propose a method for training ordinary differential equations by using a control-theoretic Lyapunov condition for stability. Our approach, called LyaNet, is based on a novel Lyapunov loss formulation that encourages the inference…

The well-known generalization problem hinders the application of artificial neural networks in continuous-time prediction tasks with varying latent dynamics. In sharp contrast, biological systems can neatly adapt to evolving environments…

We propose a differentiable optimization framework for flip-and-landing trajectory design of reusable spacecraft, exemplified by the Starship vehicle. A deep neural network surrogate, trained on high-fidelity CFD data, predicts aerodynamic…

Extreme hazard events such as wildfires and hurricanes increasingly threaten power systems, causing widespread outages and disrupting critical services. Recently, predict-then-optimize approaches have gained traction in grid operations,…

This paper presents a novel, mathematically rigorous framework for autoencoder-type deep neural networks that combines optimal control theory and low-rank tensor methods to yield memory-efficient training and automated architecture…

Ordinary differential equations (ODEs), via their induced flow maps, provide a powerful framework to parameterize invertible transformations for the purpose of representing complex probability distributions. While such models have achieved…

Deep learning for distribution grid optimization can be advocated as a promising solution for near-optimal yet timely inverter dispatch. The principle is to train a deep neural network (DNN) to predict the solutions of an optimal power flow…

We discover restrained numerical instabilities in current training practices of deep networks with stochastic gradient descent (SGD), and its variants. We show numerical error (on the order of the smallest floating point bit and thus the…

We propose integrating optimal transport (OT) into operator learning for partial differential equations (PDEs) on complex geometries. Classical geometric learning methods typically represent domains as meshes, graphs, or point clouds. Our…

One of the challenges for neural networks in real-life applications is the overconfident errors these models make when the data is not from the original training distribution. Addressing this issue is known as Out-of-Distribution (OOD)…

Graph Convolutional Networks (GCNs) and subsequent variants have been proposed to solve tasks on graphs, especially node classification tasks. In the literature, however, most tricks or techniques are either briefly mentioned as…

Neural ordinary differential equations (ODEs) provide expressive representations of invertible transport maps that can be used to approximate complex probability distributions, e.g., for generative modeling, density estimation, and Bayesian…

Signed graphs allow for encoding positive and negative relations between nodes and are used to model various online activities. Node representation learning for signed graphs is a well-studied task with important applications such as sign…

Neural Jump ODEs model the conditional expectation between observations by neural ODEs and jump at arrival of new observations. They have demonstrated effectiveness for fully data-driven online forecasting in settings with irregular and…

We explore in detail a method to solve ordinary differential equations using feedforward neural networks. We prove a specific loss function, which does not require knowledge of the exact solution, to be a suitable standard metric to…

Efficient model selection for identifying a suitable pre-trained neural network to a downstream task is a fundamental yet challenging task in deep learning. Current practice requires expensive computational costs in model training for…

Operational Neural Networks (ONNs) have recently been proposed to address the well-known limitations and drawbacks of conventional Convolutional Neural Networks (CNNs) such as network homogeneity with the sole linear neuron model. ONNs are…

Accurate navigation is of paramount importance to ensure flight safety and efficiency for autonomous drones. Recent research starts to use Deep Neural Networks to enhance drone navigation given their remarkable predictive capability for…

Machine learning algorithms, especially Neural Networks (NNs), are a valuable tool used to approximate non-linear relationships, like the AC-Optimal Power Flow (AC-OPF), with considerable accuracy -- and achieving a speedup of several…