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

In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…

We present a versatile latent representation that enables physically simulated character to efficiently utilize motion priors. To build a powerful motion embedding that is shared across multiple tasks, the physics controller should employ…

This work introduces a new framework integrating port-Hamiltonian systems (PHS) and neural network architectures. This framework bridges the gap between deterministic and stochastic modeling of complex dynamical systems. We introduce new…

We develop the geometrical, analytical, and computational framework for reactive island theory for three degrees-of-freedom time-independent Hamiltonian systems. In this setting, the dynamics occurs in a 5-dimensional energy surface in…

Transient stability is crucial to the reliable operation of power systems. Existing theories rely on the simplified electromechanical models, substituting the detailed electromagnetic dynamics of inductor and capacitor with their impedance…

This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range of electromechanical systems, including magnetic levitation…

The discretization approximation method commonly used to simulate the dynamics of quantum system coupled to the environment in continuum often suffers from the periodically partial recovery of initial state because of the effect of finite…

World models enable agents to predict future dynamics conditioned on actions, making the choice of latent representation central to planning and control. Such representations are often either learned directly from pixels with limited…

We extend the port-Hamiltonian framework defined with respect to a Lagrangian submanifold and a Dirac structure by augmenting the Lagrangian submanifold with the space of external variables. The new pair of conjugated variables is called…

Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…

We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…

Learning predictive world models from visual observations is a core problem in embodied AI, with applications to model-based reinforcement learning and robotic planning. Existing latent world models typically generate future states with…

Stability of power networks is an increasingly important topic because of the high penetration of renewable distributed generation units. This requires the development of advanced (typically model-based) techniques for the analysis and…

Cosmological field-level inference requires differentiable forward models that solve the challenging dynamics of gas and dark matter under hydrodynamics and gravity. We propose a hybrid approach where gravitational forces are computed using…

We present a novel method for guaranteeing linear momentum in learned physics simulations. Unlike existing methods, we enforce conservation of momentum with a hard constraint, which we realize via antisymmetrical continuous convolutional…

For a general class of nonlinear port-Hamiltonian systems we develop a high-order time discretization scheme with certain structure preservation properties. The finite or infinite-dimensional system under consideration possesses a…

Many experimental techniques aim at determining the Hamiltonian of a given system. The Hamiltonian describes the system's evolution in the absence of dissipation, and is often central to control or interpret an experiment. Here, we…

In this paper we present a novel approach to the geometric formulation of solid and fluid mechanics within the port-Hamiltonian framework, which extends the standard Hamiltonian formulation to non-conservative and open dynamical systems.…

Applying reinforcement learning (RL) to real-world applications requires addressing a trade-off between asymptotic performance, sample efficiency, and inference time. In this work, we demonstrate how to address this triple challenge by…

Energy-based predictive world models provide a powerful approach for multi-step visual planning by reasoning over latent energy landscapes rather than generating pixels. However, existing approaches face two major challenges: (i) their…