相关论文: PH-Dreamer: A Physics-Driven World Model via Port-…

World models have recently re-emerged as a central paradigm for embodied intelligence, robotics, autonomous driving, and model-based reinforcement learning. However, current world model research is often dominated by three partially…

This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…

Port-Hamiltonian systems theory provides a structured approach to modelling, optimization and control of multiphysical systems. Yet, its relationship to thermodynamics seems to be unclear. The Hamiltonian is traditionally thought of as…

A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A…

World models enable model-based planning through learned latent dynamics, but imagined rollouts become unstable as the planning horizon grows or the dynamics distribution shifts. We argue that this instability reflects two missing…

Hydrogen's growing role in the transition towards climate-neutral energy systems necessitates structured modeling frameworks. Existing gas network models, largely developed for natural gas, fail to capture hydrogen systems distinct…

Port-Hamiltonian (PH) systems provide a framework for modeling, analysis and control of complex dynamical systems, where the complexity might result from multi-physical couplings, non-trivial domains and diverse nonlinearities. A major…

Diffusion models have recently achieved remarkable success in generative modeling, yet they are commonly formulated as black-box stochastic systems with limited interpretability and few structural guarantees. In this paper, we establish a…

A unified simulator that can model diverse physical phenomena without solver-specific redesign is a long-standing goal across simulation science. We present a learning-based particle simulator built on a single transformer architecture to…

Port-based network modeling of multi-physics problems leads naturally to a formulation as port-Hamiltonian differential-algebraic system. In this way, the physical properties are directly encoded in the structure of the model. Since the…

This paper proposes to build a bridge between microscopic descriptions of matter with internal energy, composed of many fast interacting particles inside an environment, and their port-Hamiltonian (PH) descriptions at macroscopic scale. The…

Conventional physics-based modeling techniques involve high effort, e.g., time and expert knowledge, while data-driven methods often lack interpretability, structure, and sometimes reliability. To mitigate this, we present a data-driven…

A new formulation for the modular construction of flexible multibody systems is presented. By rearranging the equations for a flexible floating body and introducing the appropriate canonical momenta, the model is recast into a coupled…

Port-Hamiltonian (pH) systems offer a highly structured and energy-based modular framework for control systems. Many pH systems exhibit non-polynomial non-linearities. We consider the problem of immersing such systems into a…

Control theory often takes the mathematical model of the to-be-control-led system for granted. In contrast, port-Hamiltonian systems theory bridges the gap between modelling and control for physical systems. It provides a unified framework…

We develop a physics-informed learning framework for energy-shaping control of port-Hamiltonian (pH) systems from trajectory data. The proposed approach co-learns a pH system model and an optimal energy-balancing passivity-based controller…

"Dreaming" enables agents to learn from imagined experiences, enabling more robust and sample-efficient learning of world models. In this work, we consider innovations to the state-of-the-art Dreamer model using probabilistic methods that…

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…

Model-based planning in robotic domains is challenged by the hybrid nature of physical dynamics, where continuous motion is punctuated by discrete events such as contacts and impacts. Conventional latent world models typically employ…

Patterns arise spontaneously in a range of systems spanning the sciences, and their study typically focuses on mechanisms to understand their evolution in space-time. Increasingly, there has been a transition towards controlling these…