相关论文: Learning System Dynamics without Forgetting

High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interactions. While dynamics models used in model-based control can…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Learning how complex dynamical systems evolve over time is a key challenge in system identification. For safety critical systems, it is often crucial that the learned model is guaranteed to converge to some equilibrium point. To this end,…

Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…

We consider the problem of learning the dynamics of autonomous linear systems (i.e., systems that are not affected by external control inputs) from observations of multiple trajectories of those systems, with finite sample guarantees.…

In open-set recognition, existing methods generally learn statically fixed decision boundaries using known classes to reject unknown classes. Though they have achieved promising results, such decision boundaries are evidently insufficient…

Multimodal continual instruction tuning enables multimodal large language models to sequentially adapt to new tasks while building upon previously acquired knowledge. However, this continual learning paradigm faces the significant challenge…

Topology learning of networked dynamical systems is an important problem with implications to optimal control, decision-making over networks, cybersecurity and safety. The majority of prior work in consistent topology estimation relies on…

Differential equations in general and neural ODEs in particular are an essential technique in continuous-time system identification. While many deterministic learning algorithms have been designed based on numerical integration via the…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

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…

Online deep learning tackles the challenge of learning from data streams by balancing two competing goals: fast learning and deep learning. However, existing research primarily emphasizes deep learning solutions, which are more adept at…

We consider the problem of forecasting complex, nonlinear space-time processes when observations provide only partial information of on the system's state. We propose a natural data-driven framework, where the system's dynamics are modelled…

In this chapter, we utilize dynamical systems to analyze several aspects of machine learning algorithms. As an expository contribution we demonstrate how to re-formulate a wide variety of challenges from deep neural networks, (stochastic)…

Autonomous vehicles (AVs) rely on accurate trajectory prediction of surrounding vehicles to ensure the safety of both passengers and other road users. Trajectory prediction spans both short-term and long-term horizons, each requiring…

The intersection of machine learning and dynamical systems has generated considerable interest recently. Neural Ordinary Differential Equations (NODEs) represent a rich overlap between these fields. In this paper, we develop a continuous…

For both driving safety and efficiency, automated vehicles should be able to predict the behavior of surrounding traffic participants in a complex dynamic environment. To accomplish such a task, trajectory prediction is the key. Although…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

We present two elegant solutions for modeling continuous-time dynamics, in a novel model-based reinforcement learning (RL) framework for semi-Markov decision processes (SMDPs), using neural ordinary differential equations (ODEs). Our models…

Despite continual learning's long and well-established academic history, its application in real-world scenarios remains rather limited. This paper contends that this gap is attributable to a misalignment between the actual challenges of…