相关论文: Learning Geometrically-Informed Lyapunov Functions…

The Learnable Tree Filter presents a remarkable approach to model structure-preserving relations for semantic segmentation. Nevertheless, the intrinsic geometric constraint forces it to focus on the regions with close spatial distance,…

Why and how that deep learning works well on different tasks remains a mystery from a theoretical perspective. In this paper we draw a geometric picture of the deep learning system by finding its analogies with two existing geometric…

In this paper we propose a Deep Learning architecture to approximate diffeomorphisms diffeotopic to the identity. We consider a control system of the form $\dot x = \sum_{i=1}^lF_i(x)u_i$, with linear dependence in the controls, and we use…

The last decade has witnessed an experimental revolution in data science and machine learning, epitomised by deep learning methods. Indeed, many high-dimensional learning tasks previously thought to be beyond reach -- such as computer…

Classical deformable registration techniques achieve impressive results and offer a rigorous theoretical treatment, but are computationally intensive since they solve an optimization problem for each image pair. Recently, learning-based…

In this paper, we propose an approach to learn stable dynamical systems evolving on Riemannian manifolds. The approach leverages a data-efficient procedure to learn a diffeomorphic transformation that maps simple stable dynamical systems…

We extend the Locally-Subdivided Neural Intersection Function (LSNIF) to support parameterized deformable and animated geometry. Our approach introduces a rest-space and deformed-space formulation inspired by meshless rendering, allowing…

Many existing tools in nonlinear control theory for establishing stability or safety of a dynamical system can be distilled to the construction of a certificate function that guarantees a desired property. However, algorithms for…

We propose a learning-based method for Lyapunov stability analysis of piecewise affine dynamical systems in feedback with piecewise affine neural network controllers. The proposed method consists of an iterative interaction between a…

Learning mappings between functional spaces, also known as function-on-function regression, is a fundamental problem in functional data analysis with broad applications, including spatiotemporal forecasting, curve prediction, and climate…

Graphs provide a powerful means for representing complex interactions between entities. Recently, deep learning approaches are emerging for representing and modeling graph-structured data, although the conventional deep learning methods…

Deep Implicit Functions (DIFs) have gained popularity in 3D computer vision due to their compactness and continuous representation capabilities. However, addressing dense correspondences and semantic relationships across DIF-encoded shapes…

In much of the literature on function approximation by deep networks, the function is assumed to be defined on some known domain, such as a cube or a sphere. In practice, the data might not be dense on these domains, and therefore, the…

We propose a framework for performing differentiable geometric modeling based on the Function Representation (FRep). The framework is built on top of modern libraries for performing automatic differentiation allowing us to obtain…

Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics. However, model uncertainty remains a persistent challenge,…

Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional…

The problem of identifying geometric structure in data is a cornerstone of (unsupervised) learning. As a result, Geometric Representation Learning has been widely applied across scientific and engineering domains. In this work, we…

In this paper, we propose a learning-based framework for non-rigid shape registration without correspondence supervision. Traditional shape registration techniques typically rely on correspondences induced by extrinsic proximity, therefore…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of system behavior. Classical Lyapunov methods require a strict…