相关论文: Temporal Lifting as Latent-Space Regularization fo…

Sampling-based motion planning is the predominant paradigm in many real-world robotic applications, but its performance is immensely dependent on the quality of the samples. The majority of traditional planners are inefficient as they use…

We are interested in understanding stability (almost sure boundedness) of stochastic approximation algorithms (SAs) driven by a `controlled Markov' process. Analyzing this class of algorithms is important, since many reinforcement learning…

The social robot navigation is an open and challenging problem. In existing work, separate modules are used to capture spatial and temporal features, respectively. However, such methods lead to extra difficulties in improving the…

Maps of dynamics are effective representations of motion patterns learned from prior observations, with recent research demonstrating their ability to enhance various downstream tasks such as human-aware robot navigation, long-term human…

Unpaired video-to-video translation aims to translate videos between a source and a target domain without the need of paired training data, making it more feasible for real applications. Unfortunately, the translated videos generally suffer…

The goal of this work is the development of a motion model for sequentially timed movement actions in robotic systems under specific consideration of temporal stabilization, that is maintaining an approximately constant overall movement…

Transformers are designed for discrete tokens, yet many real-world signals are continuous processes observed through noisy sampling. Discrete tokenizations (raw values, patches, finite differences) can be brittle in low signal-to-noise…

Animals thrive in a constantly changing environment and leverage the temporal structure to learn well-factorized causal representations. In contrast, traditional neural networks suffer from forgetting in changing environments and many…

Learning computational fluid dynamics (CFD) traditionally relies on computationally intensive simulations of the Navier-Stokes equations. Recently, large language models (LLMs) have shown remarkable pattern recognition and reasoning…

We propose new continuous-time formulations for first-order stochastic optimization algorithms such as mini-batch gradient descent and variance-reduced methods. We exploit these continuous-time models, together with simple Lyapunov analysis…

A stabilized finite element method is introduced for the simulation of time-periodic creeping flows, such as those found in the cardiorespiratory systems. The new technique, which is formulated in the frequency rather than time domain,…

Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…

In reinforcement learning, the graph Laplacian has proved to be a valuable tool in the task-agnostic setting, with applications ranging from skill discovery to reward shaping. Recently, learning the Laplacian representation has been framed…

This paper is concerned with the study of the stability of dynamical systems evolving on time scales. We first {formalize the notion of matrix measures on time scales, prove some of their key properties and make use of this notion to study…

In this paper, we propose a sampling-based motion planning algorithm that finds an infinite path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by some regions in a given environment. The algorithm has…

Temporal Logic (TL) can be used to rigorously specify complex high-level specification for systems in many engineering applications. The translation between natural language (NL) and TL has been under-explored due to the lack of dataset and…

We present a new turbulent data reconstruction method with supervised machine learning techniques inspired by super resolution and inbetweening, which can recover high-resolution turbulent flows from grossly coarse flow data in space and…

We propose a physics-constrained machine learning method-based on reservoir computing- to time-accurately predict extreme events and long-term velocity statistics in a model of turbulent shear flow. The method leverages the strengths of two…

Time series forecasting serves as an essential tool for many real-world applications, supporting tasks such as resource optimization and decision-making. Despite significant architectural advancements, most modern models still treat…