PFPN uses particle filtering to improve character control in physics-based simulations.
problem Premature commitment to suboptimal actions in high-dimensional continuous control problems for articulated characters.
method Proposes a particle-based action policy using particle filtering to dynamically explore and discretize the action space.
result Demonstrates better imitation performance and robustness to external perturbations compared to Gaussian policies.
CARL controls a quadruped to move naturally in complex environments.
problem Motion synthesis in dynamic environments with complex constraints.
method CARL uses GANs to adapt high-level controls to action distributions and deep reinforcement learning for dynamic recovery.
result CARL can be controlled with high-level directives and react naturally to dynamic environments.
Generically learns movement control policies from exploration data.
problem Movement optimization in physically based characters.
method Parameterizes actions as target states, learns low-level control policy.
result Improves movement optimization across multiple tasks and algorithms.
RFC enhances humanoid control to imitate complex human motions.
problem Dynamics mismatch between humanoid models and real humans.
method Residual Force Control (RFC) augments control policies with external forces.
result RFC outperforms state-of-the-art methods in convergence speed and motion quality.
We propose a physics-based method to learn environmental fields (EFs) using a mobile robot. Common purely data-driven methods require prohibitively many measurements to accurately learn such complex EFs. Alternatively, physics-based models provide global knowledge of EFs but require experimental validation, depend on u…
Paper uses RL for high-level character control in 3D environments.
problem Creating intelligent characters with generalizable behavior.
method Combines traditional animations, heuristics, and reinforcement learning.
result Demonstrates learning of complex behaviors in a 3D environment.
New model learns better policies from expert demonstrations with higher efficiency.
problem Learning accurate policies from expert demonstrations with high efficiency.
method Generative adversarial imitation learning (GAIL) model that learns f-divergence automatically. result Learns better policies with higher data efficiency in physics-based control tasks.
GINNs combine deep learning with PGMs for physics-based multiscale systems.
problem Intrinsic computational bottlenecks and lack of sufficient data for QoI estimation.
method Hybrid approach combining deep learning with probabilistic graphical models, informed by structured priors for CVs.
result GINNs produce tight confidence intervals for non-Gaussian QoIs.
Physics-based framework improves building energy forecasting.
problem Lack of physical correspondence in machine learning models for building energy systems.
method Combines LTI SSMs with subspace-based domain adaptation (SDA).
result Physics-derived subspaces align with data-derived subspaces for better forecasting.
We are given a video of a person performing a certain activity, from which we extract a controllable model. The model generates novel image sequences of that person, according to arbitrary user-defined control signals, typically marking the displacement of the moving body. The generated video can have an arbitrary back…
Recent character and phoneme-based parametric TTS systems using deep learning have shown strong performance in natural speech generation. However, the choice between character or phoneme input can create serious limitations for practical deployment, as direct control of pronunciation is crucial in certain cases. We dem…
We propose a novel self-attention mechanism that can learn its optimal attention span. This allows us to extend significantly the maximum context size used in Transformer, while maintaining control over their memory footprint and computational time. We show the effectiveness of our approach on the task of character lev…
Researchers use GANs to infer physics-based inverse problems, quantifying uncertainty and promoting generalizability.
problem Quantifying uncertainty in physics-based inverse problems.
method Trained conditional Wasserstein GANs with U-Net architecture and conditional instance normalization.
result The approach effectively samples from the posterior and promotes generalizability with out-of-distribution samples.
Paper proposes method for optimal control of unknown systems with latent states.
problem Jointly estimating dynamics and latent states in systems with unmeasurable states.
method Combination of particle Markov chain Monte Carlo methods and scenario theory.
result Probabilistic performance guarantees for optimal input trajectories.
Combines physics-based ML with hierarchical Bayesian techniques for better model performance.
problem Lack of physical knowledge in black-box machine learning models.
method Embeds physics-based models into Gaussian Process mean function and uses kernel machines to characterize discrepancies.
result Improved model performance under blind conditions through integration of physics-based knowledge.
This paper introduces a framework for combining scientific knowledge of physics-based models with neural networks to advance scientific discovery. This framework, termed physics-guided neural networks (PGNN), leverages the output of physics-based model simulations along with observational features in a hybrid modeling …
New method reduces variance in Bayesian inverse problems.
problem High variance in Monte Carlo estimates for inverse problems.
method Conditional neural control variates based on Stein's identity.
result Substantial variance reduction across different inverse problems.
We develop a proxy model based on deep learning methods to accelerate the simulations of oil reservoirs--by three orders of magnitude--compared to industry-strength physics-based PDE solvers. This paper describes a new architectural approach to this task, accompanied by a thorough experimental evaluation on a publicly …
In this note, we derive an approximation for the mean curvature normal vector on vertices of triangulated surface meshes from the Young-Laplace equation and the force balance principle. We then demonstrate that the approximation expression from our physics-based derivation is equivalent to the discrete Laplace-Beltrami…
Machine learning in context of physical systems merits a re-examination of the learning strategy. In addition to data, one can leverage a vast library of physical prior models (e.g. kinematics, fluid flow, etc) to perform more robust inference. The nascent sub-field of \emph{physics-based learning} (PBL) studies the bl…
Localization of unknown faults in industrial systems is a difficult task for data-driven diagnosis methods. The classification performance of many machine learning methods relies on the quality of training data. Unknown faults, for example faults not represented in training data, can be detected using, for example, ano…
Proposes a physics-informed VAE for disentangling physics from confounding influences.
problem Challenges in inferring and predicting physical systems under partial knowledge.
method Physics-informed variational autoencoder with adversarial training.
result Model successfully disentangles known physics from confounding influences.
We enhance autonomous materials research with problem-aware models.
problem Complex decision-making in autonomous materials.
method Bayesian framework, machine learning, physics-based models, operational considerations.
result Improved models reflect problem-specific structure.
Physics-based deep learning improves fiber-optic communication efficiency.
problem Improving signal propagation in fiber-optic communication systems.
method Parameterizing the split-step method of solving the nonlinear Schrödinger equation as a deep neural network.
result Filters can be pruned to as few as 3 taps/step without sacrificing performance.
Many applications require the ability to judge uncertainty of time-series forecasts. Uncertainty is often specified as point-wise error bars around a mean or median forecast. Due to temporal dependencies, such a method obscures some information. We would ideally have a way to query the posterior probability of the enti…
Sig-PCA integrates model outputs and observations to correct model biases.
problem Improving model accuracy and reliability by correcting biases and numerical approximations.
method Sig-PCA framework that combines summary statistics from model outputs with localized observations via a neural network.
result Corrects model outputs to align closely with observational data, preserving essential statistical information.
Optimal sensor placement minimizes information loss from simulations.
problem Designing efficient sensor networks for spatiotemporal processes.
method Model-based sensor placement criterion with sparse variational inference and Gauss-Markov priors.
result Our method identifies sensor networks that minimize information loss from simulated data.
The theory of differential characters is developed completely from a de Rham - Federer viewpoint. Characters are defined as equivalence classes of special currents, called sparks, which appear naturally in the theory of singular connections. There are many different spaces of currents which yield the character groups. …
Physics models integrated into VAEs improve generative performance and extrapolation.
problem Improving generative models with interpretability and robustness.
method Physics-based latent space in VAEs with regularized learning to balance physics and neural network components.
result Generative performance and extrapolation improvements demonstrated on synthetic and real-world datasets.
A digital twin for multi-scale systems uses physics-based and machine learning models.
problem Lack of application-specific details in digital twin technology.
method Strategically separates into physics-based and data-driven models; uses mixture of experts with Gaussian Process.
result Robust and accurate predictions at future time-steps for multi-scale systems.
In this paper, we present our approach to solve a physics-based reinforcement learning challenge "Learning to Run" with objective to train physiologically-based human model to navigate a complex obstacle course as quickly as possible. The environment is computationally expensive, has a high-dimensional continuous actio…
Character scheme of small Seifert 3-manifolds is reduced if and only if no exceptional abelian character exists.
problem Character scheme of small Seifert 3-manifolds and its reduction condition.
method Complete description of the SL2(C)-character scheme of small Seifert 3-manifolds.
result Character scheme is reduced if and only if no exceptional abelian character exists, and exceptional abelian character has multiplicity 2.
Bayesian hybrid models fuse physics-based insights with machine learning constructs to correct for systematic bias. In this paper, we compare Bayesian hybrid models against physics-based glass-box and Gaussian process black-box surrogate models. We consider ballistic firing as an illustrative case study for a Bayesian …
Paper integrates ML with physics models for engineering and environmental challenges.
problem Complex science and engineering problems require new methodologies combining physics-based models and ML.
method Structured overview of integrating physics-based models with ML techniques.
result Taxonomy of existing techniques and potential research gaps identified.
Quantum character varieties unify four construction methods.
problem No specific problem stated; unification of approaches.
method Four different approaches to construction.
result Unified understanding of quantum character varieties.
We show that for any knot there exist only finitely many irreducible metabelian characters in the SL(2,C)-character variety of the knot group, and the number is given explicitly by using the determinant of the knot. Then it turns out that for any 2-bridge knot a section of the SL(2,C)-character va…
Character varieties get a natural Poisson structure.
problem Character varieties of surfaces.
method Natural Poisson structure.
result Character varieties have a Poisson structure.
Study of orbifold Chern character using superconnections.
problem Chern character for orbifold settings.
method Use of flat antiholomorphic superconnections and Riemann-Roch-Grothendieck theorem.
result Uniqueness of orbifold Chern character proven.
In this paper, we give a quantum interpretation of the Bismut-Chern character form (the loop space lifting of the Chern character form) as well as the Chern character form associated to a complex vector bundle with connection over a smooth manifold in the framework of supersymmetric quantum field theories developed by …
In this paper, we introduce a novel framework for combining scientific knowledge within physics-based models and recurrent neural networks to advance scientific discovery in many dynamical systems. We will first describe the use of outputs from physics-based models in learning a hybrid-physics-data model. Then, we furt…
Generative Neuro-Symbolic model learns from raw data with rich conceptual representations.
problem Learning rich, general-purpose conceptual representations from raw perceptual inputs.
method Generative Neuro-Symbolic (GNS) model combining symbolic and neural network approaches.
result Model learns from raw data and generalizes to 4 unique tasks.
Study shows how certain knots and tori are detected by ideal points in character varieties.
problem Detecting essential twice-punctured tori in character varieties.
method Extending Tillmann's limiting character method to new families of knots and tori.
result Explicit determination of limiting characters at ideal points for specific knots and tori.
Study SL(2,C) character schemes for finitely generated groups.
problem Characterize SL(2,C) representations of finitely generated groups.
method Define coordinate rings and equations for SL(2,C) character schemes.
result Explicit equations for character schemes of finitely presented groups.
Background elimination for noisy character images or character images from real scene is still a challenging problem, due to the bewildering backgrounds, uneven illumination, low resolution and different distortions. We propose a stroke-based character reconstruction(SCR) method that use a weighted quadratic Bezier cur…
Character variety of Borromean link solved, Alexander polynomial formula found.
problem Character variety of Borromean link
method Determined irreducible SL(2,C) character variety, found Alexander polynomial formula
result Formula for twisted Alexander polynomial on character variety
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can r…
Physical modeling of robotic system behavior is the foundation for controlling many robotic mechanisms to a satisfactory degree. Mechanisms are also typically designed in a way that good model accuracy can be achieved with relatively simple models and model identification strategies. If the modeling accuracy using phys…
Computes dimensions of representation and character varieties for 2 and 3-dimensional orbifolds.
problem Computing dimensions of representation and character varieties for orbifolds.
method Analyzes varieties of representations and characters of hyperbolic and non-hyperbolic orbifolds, provides tools for computation.
result Shows that the dimension of a specific component of characters equals half the dimension of the variety of characters of the boundary.