相关论文: Learning Dynamics under Environmental Constraints …

This work addresses the problem of predicting the motion trajectories of dynamic objects in the environment. Recent advances in predicting motion patterns often rely on machine learning techniques to extrapolate motion patterns from…

Physics-informed neural networks (PINNs) have recently emerged as a promising framework for integrating data-driven learning with physical knowledge. In this work, we propose a coupled PINN approach for the joint reconstruction of indoor…

Recently developed reduced-order modeling techniques aim to approximate nonlinear dynamical systems on low-dimensional manifolds learned from data. This is an effective approach for modeling dynamics in a post-transient regime where the…

Recent learning-based visual localization methods use global descriptors to disambiguate visually similar places, but existing approaches often derive these descriptors from geometric cues alone (e.g., covisibility graphs), limiting their…

Monocular depth prediction plays a crucial role in understanding 3D scene geometry. Although recent methods have achieved impressive progress in terms of evaluation metrics such as the pixel-wise relative error, most methods neglect the…

Parameter estimation in structural dynamics generally involves inferring the values of physical, geometric, or even customized parameters based on first principles or expert knowledge, which is challenging for complex structural systems. In…

Data-based discovery of effective, coarse-grained (CG) models of high-dimensional dynamical systems presents a unique challenge in computational physics and particularly in the context of multiscale problems. The present paper offers a…

Despite their apparent diversity, modern machine learning methods can be reduced to a remarkably simple core principle: learning is achieved by continuously optimizing parameters to minimize or maximize a scalar objective function. This…

In this paper we present a framework to learn skills from human demonstrations in the form of geometric nullspaces, which can be executed using a robot. We collect data of human demonstrations, fit geometric nullspaces to them, and also…

Reinforcement learning-based quadruped robots excel across various terrains but still lack the ability to swim in water due to the complex underwater environment. This paper presents the development and evaluation of a data-driven…

It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…

We study the problem of learning robust acoustic models in adverse environments, characterized by a significant mismatch between training and test conditions. This problem is of paramount importance for the deployment of speech recognition…

Statistical learning in high-dimensional spaces is challenging without a strong underlying data structure. Recent advances with foundational models suggest that text and image data contain such hidden structures, which help mitigate the…

High-fidelity simulations, such as computational fluid dynamics and finite element analysis, are essential for modeling complex engineering systems but are often prohibitively expensive for tasks including parametric studies, optimization,…

Substitution of well-grounded theoretical models by data-driven predictions is not as simple in engineering and sciences as it is in social and economic fields. Scientific problems suffer most times from paucity of data, while they may…

Active learning is a subfield of machine learning that is devised for design and modeling of systems with highly expensive sampling costs. Industrial and engineering systems are generally subject to physics constraints that may induce fatal…

We extend the learning from demonstration paradigm by providing a method for learning unknown constraints shared across tasks, using demonstrations of the tasks, their cost functions, and knowledge of the system dynamics and control…

As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade, there has been tremendous success in using deep learning…

This paper develops a novel mathematical framework for collaborative learning by means of geometrically inspired kernel machines which includes statements on the bounds of generalisation and approximation errors, and sample complexity. For…

Deep learning models are able to approximate one specific dynamical system but struggle at learning generalisable dynamics, where dynamical systems obey the same laws of physics but contain different numbers of elements (e.g., double- and…