相关论文: Data-Driven Dynamics Modeling of Miniature Robotic…

This work proposes an extension of neural ordinary differential equations (NODEs) by introducing an additional set of ODE input parameters to NODEs. This extension allows NODEs to learn multiple dynamics specified by the input parameter…

This paper studies the robust optimal control design for uncertain nonlinear systems from a perspective of robust adaptive dynamic programming (robust-ADP). The objective is to fill up a gap in the past literature of ADP where dynamic…

Predicting scene dynamics from visual observations is challenging. Existing methods capture dynamics only within observed boundaries failing to extrapolate far beyond the training sequence. Node-RF (Neural ODE-based NeRF) overcomes this…

Data-driven modeling of dynamical systems is a crucial area of machine learning. In many scenarios, a thorough understanding of the model's behavior becomes essential for practical applications. For instance, understanding the behavior of a…

Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…

Accurate and efficient aeroelastic models are critically important for enabling the optimization and control of highly flexible aerospace structures, which are expected to become pervasive in future transportation and energy systems.…

As modern problems such as autonomous driving, control of robotic components, and medical diagnostics have become increasingly difficult to solve analytically, data-driven decision-making has seen a large gain in interest. Where there are…

In future power systems, the detailed structure and dynamics may not always be fully known. This is due to an increasing number of distributed energy resources, such as photovoltaic generators, battery storage systems, heat pumps and…

Parametric optimal control problems governed by partial differential equations (PDEs) are widely found in scientific and engineering applications. Traditional grid-based numerical methods for such problems generally require repeated…

Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous embodied data. While the Unified World Model (UWM) formulation…

Deep neural networks (DNN) have been used to model nonlinear relations between physical quantities. Those DNNs are embedded in physical systems described by partial differential equations (PDE) and trained by minimizing a loss function that…

Foundation models for partial differential equations (PDEs) have emerged as powerful surrogates pre-trained on diverse physical systems, but adapting them to new downstream tasks remains challenging due to limited task-specific data and…

Recent advancements in large language models (LLMs) based on transformer architectures have sparked significant interest in understanding their inner workings. In this paper, we introduce a novel approach to modeling transformer…

Accurate dynamic modeling is critical for autonomous racing vehicles, especially during high-speed and agile maneuvers where precise motion prediction is essential for safety. Traditional parameter estimation methods face limitations such…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

Dynamical systems with high intrinsic dimensionality are often characterized by extreme events having the form of rare transitions several standard deviations away from the mean. For such systems, order-reduction methods through projection…

Multiscale dynamical systems, modeled by high-dimensional stiff ordinary differential equations (ODEs) with wide-ranging characteristic timescales, arise across diverse fields of science and engineering, but their numerical solvers often…

Due to the computational complexity of evaluating interatomic forces from first principles, the creation of interatomic machine learning force fields has become a highly active field of research. However, the generation of training datasets…

Optimal control problems naturally arise in many scientific applications where one wishes to steer a dynamical system from a certain initial state $\mathbf{x}_0$ to a desired target state $\mathbf{x}^*$ in finite time $T$. Recent advances…

Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations, or abrupt shifts, demanding real-time…