相关论文: Floating-Base Deep Lagrangian Networks

There is a growing attention given to utilizing Lagrangian and Hamiltonian mechanics with network training in order to incorporate physics into the network. Most commonly, conservative systems are modeled, in which there are no frictional…

Hyperbolic deep learning leverages the metric properties of hyperbolic spaces to develop efficient and informative embeddings of hierarchical data. Here, we focus on the solvable group structure of hyperbolic spaces, which follows naturally…

Fast linear algebra in deep learning usually comes with a choice: fixed geometry and exact computation, as in the Fourier transform, or adaptive geometry paid for by dense parameters, random features, or low-rank surrogates. To move beyond…

We address Lagrangian drift simulation in geophysical dynamics and explore deep learning approaches to overcome known limitations of state-of-the-art model-based and Markovian approaches in terms of computational complexity and error…

Reasoning about the physical world requires models that are endowed with the right inductive biases to learn the underlying dynamics. Recent works improve generalization for predicting trajectories by learning the Hamiltonian or Lagrangian…

Deep neural networks (DNN) are increasingly being used to learn controllers due to their excellent approximation capabilities. However, their black-box nature poses significant challenges to closed-loop stability guarantees and performance…

This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically…

Lagrangian Neural Networks (LNNs) can learn arbitrary Lagrangians from trajectory data, but their unusual optimization objective leads to significant training instabilities that limit their application to complex systems. We propose several…

Reconstructing ocean dynamics from observational data is fundamentally limited by the sparse, irregular, and Lagrangian nature of spatial sampling, particularly in subsurface and remote regions. This sparsity poses significant challenges…

As a network-based functional approximator, we have proposed a "Lagrangian Density Space-Time Deep Neural Networks" (LDDNN) topology. It is qualified for unsupervised training and learning to predict the dynamics of underlying physical…

Federated Learning (FL) provides a privacy-preserving mechanism for distributed training of machine learning models on networked devices (e.g., mobile devices, IoT edge nodes). It enables Artificial Intelligence (AI) at the edge by creating…

Realistic models of physical world rely on differentiable symmetries that, in turn, correspond to conservation laws. Recent works on Lagrangian and Hamiltonian neural networks show that the underlying symmetries of a system can be easily…

Learning high-performance deep neural networks for dynamic modeling of high Degree-Of-Freedom (DOF) robots remains challenging due to the sampling complexity. Typical unknown system disturbance caused by unmodeled dynamics (such as internal…

Model-based reinforcement learning (MBRL) is sample-efficient but depends on the accuracy of the learned dynamics, which are often modeled using black-box methods that do not adhere to physical laws. Those methods tend to produce inaccurate…

State of the art quadrupedal locomotion approaches integrate Model Predictive Control (MPC) with Reinforcement Learning (RL), enabling complex motion capabilities with planning and terrain adaptive behaviors. However, they often face…

We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In…

Accurately learning the temporal behavior of dynamical systems requires models with well-chosen learning biases. Recent innovations embed the Hamiltonian and Lagrangian formalisms into neural networks and demonstrate a significant…

We propose a method for efficiently incorporating constraints into a stochastic gradient Langevin framework for the training of deep neural networks. Constraints allow direct control of the parameter space of the model. Appropriately…

(Artificial) neural networks have become increasingly popular in mechanics to accelerate computations with model order reduction techniques and as universal models for a wide variety of materials. However, the major disadvantage of neural…

A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…