New method for PKM inverse dynamics second derivatives efficiently.
problem Efficient computation of PKM inverse dynamics second derivatives.
method Recursive Lie-group formulation for serial robots adapted to PKM topology.
result Efficient computation of second time derivatives for PKM.
We present an adversarial active exploration for inverse dynamics model learning, a simple yet effective learning scheme that incentivizes exploration in an environment without any human intervention. Our framework consists of a deep reinforcement learning (DRL) agent and an inverse dynamics model contesting with each …
New method learns population dynamics from snapshots using JKO scheme and inverse optimization.
problem Recovering underlying process governing particle evolution from discrete time samples.
method Combines JKO scheme with inverse optimization techniques for end-to-end adversarial training.
result Improved performance over prior JKO-based methods with theoretical guarantees.
The so-called inverse problem of dynamics is about constructing a potential for a given family of curves. We observe that there is a more general way of posing the problem by making use of ideas of another inverse problem, namely the inverse problem of the calculus of variations. We critically review and clarify differ…
This study develops a dynamic inverse optimization framework to recover hidden, time-varying preferences from observed allocation trajectories.
problem The gap between classical optimization theory and real-world practice, especially in the presence of drift and shocks.
method Dynamic inverse optimization framework using a drift-aware estimator grounded in convex analysis and online learning theory.
result Sharp static and dynamic regret bounds for the framework, demonstrating its responsiveness to gradual drift and sudden shocks.
New algorithm reduces performance loss in IRL with mismatched transition dynamics.
problem Performance degradation in inverse reinforcement learning due to mismatched transition dynamics.
method Proposed a robust Maximum Causal Entropy (MCE) IRL algorithm leveraging robust reinforcement learning insights.
result Empirically demonstrated stable performance improvement under transition dynamics mismatches.
Inverse Reinforcement Learning (IRL) describes the problem of learning an unknown reward function of a Markov Decision Process (MDP) from observed behavior of an agent. Since the agent's behavior originates in its policy and MDP policies depend on both the stochastic system dynamics as well as the reward function, the …
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling based on incremental kernel methods, with no prior information on the mechanical …
Develops inverse EKF for non-linear systems with stability guarantees and learning unknown dynamics.
problem Estimating adversary's Kalman-filtered estimates in highly non-linear systems.
method Proposes inverse extended Kalman filter (I-EKF) for second-order, Gaussian sum, and dithered forward models. Uses reproducing kernel Hilbert space for learning unknown dynamics.
result Derives theoretical stability guarantees for inverse second-order EKF.
Inverse depth scaling found in LLMs due to similar layers averaging error.
problem Understanding how depth affects loss in large language models.
method Analysis of LLMs and toy residual networks.
result Loss scales inversely proportional to depth in LLMs.
Study inverse problems for twisted geodesic flows on manifolds.
problem Understanding inverse problems for twisted geodesic flows.
method Generalized ray transforms and tensor tomography.
result New insights into rigidity problems for twisted geodesic flows.
Bayesian method estimates dynamics from near-optimal trajectories.
problem Estimating dynamics from near-optimal expert trajectories in reinforcement learning.
method Constraint-based Bayesian approach integrating expert near-optimality.
result Significant improvements in decision-making and transfer success.
Proposes efficient sampling methods for solving linear inverse problems.
problem Solving linear inverse problems with computational efficiency and accuracy.
method Higher-order Langevin diffusion with pre-conditioning and annealing.
result Provable sampling from posterior distributions with accelerated convergence.
Solving goal-oriented tasks is an important but challenging problem in reinforcement learning (RL). For such tasks, the rewards are often sparse, making it difficult to learn a policy effectively. To tackle this difficulty, we propose a new approach called Policy Continuation with Hindsight Inverse Dynamics (PCHID). Th…
This paper presents a semi-parametric algorithm for online learning of a robot inverse dynamics model. It combines the strength of the parametric and non-parametric modeling. The former exploits the rigid body dynamics equa- tion, while the latter exploits a suitable kernel function. We provide an extensive comparison …
Paper analyzes Langevin dynamics for solving infinite-dimensional Bayesian inverse problems.
problem Solving high-dimensional Bayesian inverse problems in infinite-dimensional function spaces.
method Preconditioned Langevin dynamics with score-based generative models (SGMs).
result Derives error estimates and sufficient conditions for global convergence in Kullback-Leibler divergence.
Proposes ICC method for dynamic portfolio optimization.
problem Non-stationarity in market conditions makes traditional portfolio optimization ineffective.
method Inverse Covariance Clustering (ICC) to identify market states and integrate into dynamic optimization.
result ICC-PO generates portfolios with higher Sharpe Ratios and greater robustness.
DO-IQS recovers optimal stopping region from expert trajectories, addressing specific challenges.
problem Recovering optimal stopping region from expert trajectories with unknown gain functions.
method Dynamics-Aware Offline Inverse Q-Learning incorporating temporal information and confidence-based oversampling.
result Demonstrated performance on real and artificial data, including optimal intervention for critical events.
The paper introduces a dynamic MVP model using high-frequency financial data.
problem Capturing the dynamics of minimum variance portfolio weights in financial markets.
method Imposes autoregressive structure on MVP processes and uses CLIME and LASSO for estimation.
result Proposes DR-MVP model with established asymptotic properties.
Study inverse problems with measure samples, improving estimator calibration and recovery.
problem Inverse problems with unknown potentials observed through measure samples.
method Introduced convex empirical objectives and sharpened Fenchel--Young losses for finite-dimensional potential classes.
result High-probability parameter recovery bounds for inverse entropic unbalanced optimal transport and inverse JKO learning.
State-only imitation learning improves dexterous manipulation learning from videos.
problem High sample complexity in complex domains like dexterous manipulation.
method Train an inverse dynamics model to predict actions from states and train the policy jointly.
result Performs on par with state-action approaches and outperforms RL alone.
Bayesian ANN method predicts chaotic systems with uncertainty.
problem Estimating chaotic dynamical systems from noisy data.
method Bayesian Artificial Neural Networks for ODE inverse problems.
result Accurate time predictions and uncertainty bounds.
A novel diffusion method for Bayesian posterior sampling with theoretical guarantees.
problem Efficiently sampling from complex posterior distributions in Bayesian inversion.
method Diffusion-based posterior sampling using Langevin dynamics and PnP framework.
result The method converges even for multi-modal posterior distributions with theoretical error bounds.
LUQ learns QoI from dynamical systems for consistent observation inversion.
problem Quantifying uncertainties on model inputs corresponding to observable QoI in dynamical systems.
method LUQ framework for SIPs, including data filtering, dynamics learning, observation classification, and feature extraction.
result LUQ provides tractable solutions to SIPs for dynamical systems, enabling uncertainty quantification.
BCO* improves BCO by concurrently training inverse dynamics and expert policy.
problem Efficiently learn from unlabeled demonstrations without requiring many initial interactions.
method Introduce BCO* that concurrently trains an inverse dynamics model and expert policy.
result BCO* eliminates the need for initial interactions and improves sample complexity.
We consider the problem of learning by demonstration from agents acting in unknown stochastic Markov environments or games. Our aim is to estimate agent preferences in order to construct improved policies for the same task that the agents are trying to solve. To do so, we extend previous probabilistic approaches for in…
We consider the problem of learning by demonstration from agents acting in unknown stochastic Markov environments or games. Our aim is to estimate agent preferences in order to construct improved policies for the same task that the agents are trying to solve. To do so, we extend previous probabilistic approaches for in…
A new model forecasts Value-at-Risk using NIG distribution and dynamic scores.
problem Forecasting Value-at-Risk (VaR) in financial markets.
method Proposes a parametric forecasting model based on the normal inverse Gaussian distribution (NIG) incorporating intraday information.
result The model outperforms traditional GARCH models, especially in high-risk scenarios.
This paper studies Learning from Observations (LfO) for imitation learning with access to state-only demonstrations. In contrast to Learning from Demonstration (LfD) that involves both action and state supervision, LfO is more practical in leveraging previously inapplicable resources (e.g. videos), yet more challenging…
This paper discusses online algorithms for inverse dynamics modelling in robotics. Several model classes including rigid body dynamics (RBD) models, data-driven models and semiparametric models (which are a combination of the previous two classes) are placed in a common framework. While model classes used in the litera…
Develops inverse unscented Kalman filter for non-linear systems.
problem Estimating defender's state in adversarial settings.
method Formulated inverse unscented Kalman filter (I-UKF) and reproducing kernel Hilbert space-based UKF (RKHS-UKF).
result Proposed filters are conservative estimators with upper-bounded error covariance.
Paper proposes Langevin dynamics for adaptive IRL of stochastic gradient algorithms.
problem Estimating reward functions from noisy gradient estimates of stochastic gradient agents.
method Generalized Langevin dynamics algorithm for IRL.
result Proposed algorithms asymptotically generate samples proportional to exp(R(θ)).
Inverse reinforcement learning has proved its ability to explain state-action trajectories of expert agents by recovering their underlying reward functions in increasingly challenging environments. Recent advances in adversarial learning have allowed extending inverse RL to applications with non-stationary environment …
New method learns soliton dynamics from scattering data without assuming known equations.
problem Deriving soliton dynamics from scattering data without prior knowledge.
method Combining IST with weak-form system identification for data-driven discovery.
result Effective soliton dynamics models derived from observed scattering data.
Deep learning speeds up real-time emission monitoring.
problem Real-time greenhouse gas emission monitoring under transient conditions.
method Bayesian inference with deep learning surrogate of CFD outputs.
result Near-real-time predictions with orders-of-magnitude faster runtimes.
Extends exterior diff. sys. to Lie algebroids with examples.
problem Invariant inverse problem of the calculus of variations
method Extends exterior differential systems to Lie algebroids, defines integral manifolds.
result Defines integral manifolds for exterior diff. systems on Lie algebroids.
New spatiotemporal Besov process improves CT image reconstruction and other inverse problems.
problem Handling abrupt changes and sharp contrasts in spatiotemporal data.
method Generalized Besov process (STBP) with Q-exponential process for temporal correlation.
result STBP outperforms traditional methods in dynamic reconstruction and inverse problems.
Paper proposes efficient image inversion and editing using rectified stochastic differential equations.
problem Inversion and editing of real images using generative models.
method Proposes RF inversion using dynamic optimal control and a linear quadratic regulator, extending to stochastic sampler for Flux.
result Allows state-of-the-art performance in zero-shot inversion and editing, outperforming prior works.
An internal model of the own body can be assumed a fundamental and evolutionary-early representation as it is present throughout the animal kingdom. Such functional models are, on the one hand, required in motor control, for example solving the inverse kinematic or dynamic task in goal-directed movements or a forward t…
Paper proposes IRL methods for limited interaction scenarios.
problem Learning with limited teacher interaction.
method Curriculum Inverse Reinforcement Learning (CIRL) and Self-Paced Inverse Reinforcement Learning (SPIRL).
result Training strategies can accelerate learning compared to random or batch methods.
Study finds non-monotonic Value of Information in dynamic multi-market monopoly.
problem Investigates non-monotonicity in Value of Information for a price-setting monopolist.
method Uses a Bayesian inverse problem with Kalman-Bucy-Stratonovich filter in a dynamic discrete model.
result Non-monotonic relationship between signal variance and Value of Information.
Paper proves stability for recovering connections from holonomy traces.
problem Recovering a connection from holonomy traces on Riemannian manifolds.
method Combination of microlocal analysis and non-Abelian approximate Livsic Theorem.
result Hölder type stability estimates for holonomy inverse problem.
ML surrogates speed up Bayesian inverse problem solving.
problem Infer source location from noisy acoustic wave equation data.
method Use neural network as surrogate for PDE, apply MCMC to posterior.
result Accurately infers source location from noisy data.
Augmenting reinforcement learning with imitation learning is often hailed as a method by which to improve upon learning from scratch. However, most existing methods for integrating these two techniques are subject to several strong assumptions---chief among them that information about demonstrator actions is available.…
We implement gradient-based variational inference routines for Wishart and inverse Wishart processes, which we apply as Bayesian models for the dynamic, heteroskedastic covariance matrix of a multivariate time series. The Wishart and inverse Wishart processes are constructed from i.i.d. Gaussian processes, existing var…
Develops an inverse particle filter for cognitive systems.
problem Tracking cognitive adversaries in counter-adversarial applications.
method Global filtering approach using Monte Carlo methods and differentiable I-PF.
result Demonstrates convergence to optimal inverse filter and improved estimation performance.
New method identifies flawed internal models of the world in animals.
problem How animals make decisions with partial sensory information.
method Generalizes Inverse Rational Control to continuous nonlinear dynamics and noise.
result Identifies the best internal model explaining an agent's actions.
Proposes a probabilistic model to improve hydrology predictions and trust.
problem Noisy or missing basin characteristics impact streamflow prediction.
method Probabilistic inverse modeling framework to reconstruct basin characteristics.
result 6% improvement in R2 for streamflow prediction, 17% reduction in uncertainty.