相关论文: DynSyn: Dynamical Synergistic Representation for E…

Neural control is an exciting mystery which we instinctively master. Yet, researchers have a hard time explaining the motor control trajectories. Physiologically accurate biomechanical simulations can, to some extent, mimic live subjects…

Learning effective continuous control policies in high-dimensional systems, including musculoskeletal agents, remains a significant challenge. Over the course of biological evolution, organisms have developed robust mechanisms for…

Control of underactuated dynamical systems has been studied for decades in robotics, and is now emerging in other fields such as neuroscience. Most of the advances have been in model based control theory, which has limitations when the…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem. Inspired by human manipulation, researchers have studied generating and using postural synergies for robot hands to…

A properly designed controller can help improve the quality of experimental measurements or force a dynamical system to follow a completely new time-evolution path. Recent developments in deep reinforcement learning have made steep advances…

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 study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…

How to improve the ability of scene representation is a key issue in vision-oriented decision-making applications, and current approaches usually learn task-relevant state representations within visual reinforcement learning to address this…

The low-level sensory and motor signals in deep reinforcement learning, which exist in high-dimensional spaces such as image observations or motor torques, are inherently challenging to understand or utilize directly for downstream tasks.…

Identifying governing equations for a dynamical system is a topic of critical interest across an array of disciplines, from mathematics to engineering to biology. Machine learning -- specifically deep learning -- techniques have shown their…

Control of a dynamical system without the knowledge of dynamics is an important and challenging task. Modern machine learning approaches, such as deep neural networks (DNNs), allow for the estimation of a dynamics model from control inputs…

Improving the interpretability of deep neural networks has recently gained increased attention, especially when the power of deep learning is leveraged to solve problems in physics. Interpretability helps us understand a model's ability to…

Physics-based character animation has become a fundamental approach for synthesizing realistic, physically plausible motions. While current data-driven deep reinforcement learning (DRL) methods can synthesize complex skills, they struggle…

Deep Neural Networks (DNNs) have been used to solve different day-to-day problems. Recently, DNNs have been deployed in real-time systems, and lowering the energy consumption and response time has become the need of the hour. To address…

Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…

Conventional approaches to enhancing movement coordination, such as providing instructions and visual feedback, are often inadequate in complex motor tasks with multiple degrees of freedom (DoFs). To effectively address coordination…

Deep neural networks (DNNs) transform stimuli across multiple processing stages to produce representations that can be used to solve complex tasks, such as object recognition in images. However, a full understanding of how they achieve this…

Networks of coupled dynamical systems provide a powerful way to model systems with enormously complex dynamics, such as the human brain. Control of synchronization in such networked systems has far reaching applications in many domains,…