相关论文: Neural Operators for Multi-Task Control and Adapta…

We study Transformers through the perspective of optimal control theory, using tools from continuous-time formulations to derive actionable insights into training and architecture design. This framework improves the performance of existing…

Large-scale models have exhibited remarkable capabilities across diverse domains, including automated medical services and intelligent customer support. However, as most large models are trained on single-modality corpora, enabling them to…

Neural Operators offer a powerful, data-driven tool for solving parametric PDEs as they can represent maps between infinite-dimensional function spaces. In this work, we employ physics-informed Neural Operators in the context of…

Few-shot learning aims to adapt knowledge learned from previous tasks to novel tasks with only a limited amount of labeled data. Research literature on few-shot learning exhibits great diversity, while different algorithms often excel at…

As an emerging paradigm in scientific machine learning, neural operators aim to learn operators, via neural networks, that map between infinite-dimensional function spaces. Several neural operators have been recently developed. However, all…

We propose a neural network approach for solving high-dimensional optimal control problems. In particular, we focus on multi-agent control problems with obstacle and collision avoidance. These problems immediately become high-dimensional,…

Controlling continuous-time dynamical systems is generally a two step process: first, identify or model the system dynamics with differential equations, then, minimize the control objectives to achieve optimal control function and optimal…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

Adaptive methods are popular within the control literature due to the flexibility and forgiveness they offer in the area of modelling. Neural network adaptive control is favorable specifically for the powerful nature of the machine learning…

This work is concerned with solving neural network-based feedback controllers efficiently for optimal control problems. We first conduct a comparative study of two prevalent approaches: offline supervised learning and online direct policy…

Koopman operator theory, a powerful framework for discovering the underlying dynamics of nonlinear dynamical systems, was recently shown to be intimately connected with neural network training. In this work, we take the first steps in…

A novel neural network (NN) approach is proposed for constrained optimization. The proposed method uses a specially designed NN architecture and training/optimization procedure called Neural Optimization Machine (NOM). The objective…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Designing shared neural architecture plays an important role in multi-task learning. The challenge is that finding an optimal sharing scheme heavily relies on the expert knowledge and is not scalable to a large number of diverse tasks.…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

Animals excel at adapting their intentions, attention, and actions to the environment, making them remarkably efficient at interacting with a rich, unpredictable and ever-changing external world, a property that intelligent machines…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

Engineers learn from every design they create, building intuition that helps them quickly identify promising solutions for new problems. Topology optimization (TO) - a well-established computational method for designing structures with…

Multi-task learning solves multiple correlated tasks. However, conflicts may exist between them. In such circumstances, a single solution can rarely optimize all the tasks, leading to performance trade-offs. To arrive at a set of optimized…

Data availability has dramatically increased in recent years, driving model-based control methods to exploit learning techniques for improving the system description, and thus control performance. Two key factors that hinder the practical…