相关论文: HYCO: Hybrid-Cooperative Learning for Data-Driven …

Teaching systems physical tasks is a long standing goal in HCI, yet most prior work has focused on non collaborative physical activities. Collaborative tasks introduce added complexity, requiring systems to infer users assumptions about…

Physical learning is an emerging paradigm in science and engineering whereby (meta)materials acquire desired macroscopic behaviors by exposure to examples. So far, it has been applied to static properties such as elastic moduli and…

We present a hierarchical policy-learning framework that enables a legged humanoid to cooperatively carry extended loads with a human partner using only haptic cues for intent inference. At the upper tier, a lightweight behavior-cloning…

Hybrid modeling, the combination of machine learning models and scientific mathematical models, enables flexible and robust data-driven prediction with partial interpretability. However, effectively the scientific models may be ignored in…

Solving real-world complex tasks using reinforcement learning (RL) without high-fidelity simulation environments or large amounts of offline data can be quite challenging. Online RL agents trained in imperfect simulation environments can…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

The pressure Poisson equation, central to the fractional step method in incompressible flow simulations, incurs high computational costs due to the iterative solution of large-scale linear systems. To address this challenge, we introduce…

Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…

Significant progress has been made in the area of model-based reinforcement learning. State-of-the-art algorithms are now able to match the asymptotic performance of model-free methods while being significantly more data efficient. However,…

Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…

Natural videos provide rich visual contents for self-supervised learning. Yet most existing approaches for learning spatio-temporal representations rely on manually trimmed videos, leading to limited diversity in visual patterns and limited…

Large Language Models (LLMs) increasingly rely on Chain-of-Thought (CoT) reasoning to improve accuracy on complex tasks. However, always generating lengthy reasoning traces is inefficient, leading to excessive token usage and higher…

Contact-rich robot dynamics are hybrid: a single observation can match several latent states and contact regimes (free, impact, stick--slip). A standard amortized filter that places no probability on a feasible contact transition will…

Multiscale problems are ubiquitous in physics. Numerical simulations of such problems by solving partial differential equations (PDEs) at high resolution are computationally too expensive for many-query scenarios, such as uncertainty…

Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on…

With the recent wave of digitalization, specifically in the context of safety-critical applications, there has been a growing need for computationally efficient, accurate, generalizable, and trustworthy models. Physics-based models have…

PDE learning is an emerging field that combines physics and machine learning to recover unknown physical systems from experimental data. While deep learning models traditionally require copious amounts of training data, recent PDE learning…

Learning models of dynamical systems with external inputs, which may be, for example, nonsmooth or piecewise, is crucial for studying complex phenomena and predicting future state evolution, which is essential for applications such as…

This work presents a physics-informed deep learning-based super-resolution framework to enhance the spatio-temporal resolution of the solution of time-dependent partial differential equations (PDE). Prior works on deep learning-based…

Partial differential equations (PDEs) are central to scientific modeling. Modern workflows increasingly rely on learning-based components to support model reuse, inference, and integration across large computational processes. Despite the…