An energy based approach for stabilizing a mechanical system has offered a simple yet powerful control scheme. However, since it does not impose such strong constraints on parameter space of the controller, finding appropriate parameter values for an optimal controller is known to be hard. This paper intends to generat…
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48 results for “energy-based control”
RNE provides a flexible framework for diffusion models, enabling inference-time control and energy-based training.
problem Insufficient knowledge of marginal densities in diffusion models.
method Introduces Radon-Nikodym Estimator (RNE) to reveal the connection between marginal densities and transition kernels.
result RNE delivers strong results in inference-time control and energy-based diffusion training.
Energy-Based In-Domain Control and Observer Design for Infinite-Dimensional Port-Hamiltonian Systemsmath.OC
Paper designs energy-based controllers and observers for complex systems.
problem Controlling and observing infinite-dimensional systems with in-domain actuation.
method Uses Stokes-Dirac structures and jet-bundle structures to derive controllers and observers.
result Control schemes derived in both frameworks are equivalent.
The problem of continuous inverse optimal control (over finite time horizon) is to learn the unknown cost function over the sequence of continuous control variables from expert demonstrations. In this article, we study this fundamental problem in the framework of energy-based model, where the observed expert trajectori…
Energy-Based Control of Nonlinear Infinite-Dimensional Port-Hamiltonian Systems with Dissipationmath.OC
In this paper, we consider nonlinear PDEs in a port-Hamiltonian setting based on an underlying jet-bundle structure. We restrict ourselves to systems with 1-dimensional spatial domain and 2nd-order Hamiltonian including certain dissipation models that can be incorporated in the port- Hamiltonian framework by means of a…
The paper proposes an on-line monitoring framework for continuous real-time safety/security in learning-based control systems (specifically application to a unmanned ground vehicle). We monitor validity of mappings from sensor inputs to actuator commands, controller-focused anomaly detection (CFAM), and from actuator c…
Improved text generation with constraints using discrete auto-regressive biasing.
problem Balancing fluency and constraint satisfaction in LLM outputs.
method Discrete Auto-regressive Biasing, leveraging gradients in discrete text space.
result Significantly improved constraint satisfaction with comparable fluency.
EBM model for functional data using path measure tilting.
problem Modeling distributions of functions from irregularly sampled data.
method Spectral decomposition of an energy-based model with a Gaussian Process path measure to reweight the distribution.
result Effective approach to up-scaling functional data.
Develops control and observer methods for complex systems.
problem Controlling and observing infinite-dimensional systems with boundary actuation.
method Energy-Casimir method and port-Hamiltonian system representation.
result Control law and observer designed for Kirchhoff-Love plate example.
Dissipative SymODEN: Encoding Hamiltonian Dynamics with Dissipation and Control into Deep Learningcs.LG
Dissipative SymODEN learns dynamics with dissipation and control from data.
problem Learning dynamics with dissipation and control from observed data.
method Dissipative SymODEN encodes port-Hamiltonian dynamics into a deep learning architecture.
result The learned model reveals key aspects of the system, such as inertia, dissipation, and potential energy.
We study the cross-entropy method (CEM) for the non-convex optimization of a continuous and parameterized objective function and introduce a differentiable variant that enables us to differentiate the output of CEM with respect to the objective function's parameters. In the machine learning setting this brings CEM insi…
A new method for sampling high-dimensional distributions overcomes overfitting.
problem Overfitting in energy-based models during gradient descent.
method Mean-field microcanonical gradient descent, which samples multiple data points simultaneously.
result The method reduces entropy loss while maintaining likelihood fit, improving overfitting issues.
EBMs trained on discrete data using heat equations on graph structures.
problem Training EBMs on discrete or mixed data.
method Heat equations on graph structures for data perturbation.
result Efficacy demonstrated in various applications.
Energy Matching unifies flow matching and energy-based models for generative modeling.
problem Inability of flow-based models to integrate partial observations and priors.
method Energy Matching framework that integrates flow matching and energy-based models.
result Substantially outperforms existing EBMs on CIFAR-10 and ImageNet generation.
EB-RANSAC uses energy-based model for robust estimation without complex sampling.
problem Robust estimation of parameters in noisy data.
method EB-RANSAC combines RANSAC's sampling scheme with an energy-based model, simplifying the process and reducing hyperparameter requirements.
result EB-RANSAC effectively solves linear regression and maximum likelihood estimation problems.
Paper proposes CoopFlow, a two-flow generator for energy-based models.
problem Training energy-based models with Langevin flow and normalizing flow.
method CoopFlow trains an energy-based model using a normalizing flow initialization and a short-run Langevin flow revision.
result CoopFlow converges to a moment matching estimator and synthesizes realistic images.
A new method for learning policies from demonstrations without reinforcement.
problem Learning policies from demonstrations without access to reinforcement signals.
method Energy-based distribution matching (EDM) to learn policy parameters and state marginals.
result EDM yields consistent performance gains over existing algorithms for strictly batch imitation learning.
Versatile model for High Energy Physics events.
problem Modeling complex interactions in high-energy physics data.
method Energy-based probabilistic model with multi-purpose architecture.
result Achieves success in diverse applications like simulation, anomaly detection, and particle identification.
A method to automatically learn proposal distributions for energy-based regression models.
problem Manual design and initial estimate of proposal distributions for energy-based regression models.
method Introduces a method to learn an effective proposal distribution automatically, parameterized by a separate network head, and derives a unified training objective to minimize KL divergence and negative log-likelihood.
result Consistently outperforms conventional MDN training on four real-world regression tasks within computer vision.
Proposes Learnergy, a Python framework for energy-based machine learning.
problem Lack of research and implementations around energy-based systems.
method Built upon PyTorch, Learnergy provides a more friendly environment and faster prototyping.
result Learnergy speeds up computational time using CUDA.
New method learns latent energy models using particle algorithms.
problem Learning latent variable models with energy priors.
method Continuous-time SDEs for MMLE, particle-based discretization.
result Practical algorithm converges to solve MMLE problem.
BiDVL improves EBLVMs for visual tasks by optimizing two variational distributions.
problem Training EBLVMs is challenging due to intractable distributions.
method Bi-level doubly variational learning with two tractable distributions.
result BiDVL achieves impressive image generation and reconstruction performance.
DNFS trains efficient samplers for discrete distributions using locally equivariant Transformers.
problem Sampling from unnormalised discrete distributions.
method DNFS learns a rate matrix to satisfy the Kolmogorov equation, using control variates and locally equivariant Transformers.
result DNFS achieves efficient and effective sampling across various applications.
A new loss function ED simplifies training energy-based models without scores.
problem Training energy-based models is computationally expensive.
method Energy Discrepancy (ED) loss function that does not rely on scores or MCMC.
result ED effectively interpolates between score matching and negative log-likelihood.
CEBMs learn flexible latent mappings from data.
problem Learning flexible latent mappings from data.
method CEBMs decompose joint density into tractable posterior over latent variables.
result CEBMs achieve competitive results in image modeling and latent space predictive power.
EBPs model exchangeable data with flexible distributions.
problem Current energy-based models restrict set cardinality and limited distribution forms.
method Introduced Energy-Based Processes (EBPs) that extend energy models to exchangeable data with neural network parameterizations.
result EBPs can express more flexible distributions over sets without cardinality restrictions.
A new approach to distill unnormalized EBM for energy-based seq2seq models.
problem Training unnormalized EBM for energy-based seq2seq models is challenging.
method Relating the problem to distributional RL, proposing a general distillation approach.
result General approach applicable to any sequential EBM, illustrated on GAM experiments.
Improves sample quality of generative models using energy-based methods.
problem Low sample quality in generative models.
method Constructs an energy function on latent space, trains an energy-based model, and generates improved samples.
result Significant improvement in sample quality with minimal computational overhead.
EBR improves NMT by re-ranking samples drawn from MLE-trained models.
problem Discrepancy between MLE and BLEU score in neural machine translation.
method Train an energy-based model to mimic BLEU score, then use it for re-ranking.
result EBR consistently improves NMT performance by +4 BLEU points on IWSLT'14 German-English.
NOVAS: Non-convex Optimization via Adaptive Stochastic Search for End-to-End Learning and Controlcs.LG
NOVAS uses adaptive stochastic search for non-convex optimization in deep networks.
problem Non-convex optimization challenges in deep neural networks.
method Adaptive stochastic search for non-convex optimization.
result NOVAS outperforms existing alternatives in a structured prediction task.
Bidirectional bounds stabilize training of energy-based models.
problem Training energy-based models is difficult and prone to instability.
method Propose bidirectional bounds linking to gradient penalty and Jacobi-determinant estimator.
result Significant stabilization and high-quality density estimation achieved.
New method trains energy-based models faster and more stably.
problem Training efficiency and stability of energy-based models.
method EBFlow with score-matching objectives.
result EBFlow achieves significant speedup and better performance.
ScoreGrad predicts multivariate time series with energy-based models, achieving state-of-the-art results.
problem Predicting multivariate time series with generative models while considering noise and distribution.
method ScoreGrad uses continuous energy-based generative models with a feature extraction and score matching module.
result ScoreGrad achieves state-of-the-art results on six real-world datasets.
Model learns Lagrangian dynamics from images for better prediction and control.
problem Lack of interpretability and applicability to high-dimensional data like images.
method Unsupervised neural network model that learns Lagrangian dynamics from images using a coordinate-aware VAE.
result Model infers interpretable Lagrangian dynamics, enabling long-term prediction and synthesis of controllers.
We propose to reinterpret a standard discriminative classifier of p(y|x) as an energy based model for the joint distribution p(x,y). In this setting, the standard class probabilities can be easily computed as well as unnormalized values of p(x) and p(x|y). Within this framework, standard discriminative architectures ma…
Efficiently samples and learns densities with symmetries using equivariant methods.
problem Efficiently sampling and learning densities with symmetries.
method Equivariant Stein Variational Gradient Descent (SVGD) and equivariant energy based models.
result Improves and scales up training of energy based models.
Energy-based diffusion models improve molecular sampling and simulation.
problem Inconsistency between diffusion model scores and equilibrium distributions.
method Fokker-Planck regularization to enforce consistency.
result Improved consistency and efficient sampling of biomolecular systems.
Energy-based models can generate complex images by combining simpler concepts.
problem Generating natural images that satisfy complex logical combinations of concepts.
method Energy-based models combine probability distributions of simpler concepts to generate compositions.
result Energy-based models can generate images that satisfy conjunctions, disjunctions, and negations of concepts.
This paper studies a training method to jointly estimate an energy-based model and a flow-based model, in which the two models are iteratively updated based on a shared adversarial value function. This joint training method has the following traits. (1) The update of the energy-based model is based on noise contrastive…
This paper proposes a multi-grid method for learning energy-based generative ConvNet models of images. For each grid, we learn an energy-based probabilistic model where the energy function is defined by a bottom-up convolutional neural network (ConvNet or CNN). Learning such a model requires generating synthesized exam…
Proposes an energy-based sliced Wasserstein distance for improved probability measure comparison.
problem Inefficiencies and limitations in existing sliced Wasserstein distance approaches.
method Introduces an energy-based slicing distribution for better performance and stability.
result Demonstrates superior performance of the EBSW distance in various applications.
This paper introduces a new neural ODE model for continuous-time sequence generation.
problem Representing and predicting continuous-time sequences with high accuracy.
method A neural emission model and neural ODE define the latent state evolution, with an Energy-based model for prior distribution.
result The model outperforms existing methods in various tasks, including long-horizon predictions.
3D object detection improved using energy-based models.
problem Accurate 3D object detection in cluttered environments from sparse LiDAR data.
method Designing a differentiable pooling operator for 3D bounding boxes integrated into a state-of-the-art 3D object detector.
result Our approach consistently outperforms the SA-SSD baseline across all 3DOD metrics on the KITTI dataset.
New samplers improve compositional generation with diffusion models.
problem Improving compositional generation with diffusion models.
method Score-based interpretation, energy-based parameterization, Metropolis-corrected samplers.
result New samplers enable successful compositional generation across various tasks.
This paper proposes a more efficient training method for energy-based models.
problem The computational burden and validity trade-off in Contrastive Divergence training.
method Introducing Diffusion Contrastive Divergence (DCD) to replace Langevin dynamics with diffusion processes.
result The proposed DCDs are more computationally efficient and handle gradient terms better than Contrastive Divergence.
Paper proposes a method to improve MCMC sampling for energy-based models.
problem MCMC sampling of energy-based models is often not mixing in high-dimensional data.
method Proposes using a flow-based model as a backbone to correct the energy-based model, enabling mixing in latent space.
result MCMC sampling of the corrected EBM in the latent space mixes well and traverses modes in the data space.
STANLEY improves sampling for complex data models.
problem Training Energy-Based models with intractable normalizing constants.
method Anisotropic Langevin Dynamics with gradient-informed covariance.
result Geometrically uniformly ergodic Markov Chain for sampling.
Graph Energy Matching improves generation quality for molecular graphs.
problem Discrete energy-based models struggle with efficient and high-quality sampling for graph generation.
method Inspired by transport-map optimization, Graph Energy Matching learns a permutation-invariant potential energy to guide sampling.
result GEM matches or surpasses discrete diffusion baselines on molecular graph benchmarks.