Publications related to Visual Control of Legged Robots for Locomotion in Complex Environments using Central Pattern Generators

Related publications (29)

t-PiNet: A thermodynamics-informed hierarchical learning for discovering constitutive relations of geomaterials

More attention has been paid to integrating existing knowledge with data to understand the complex mechanical behaviour of geomaterials, but it incurs scepticism and criticism on its generalizability and robustness. Moreover, a common mistake in current da ...

2025

Machine Learning Applications to Conditional Asset Pricing: Attention, CNNs, and Neural Tangent Kernels

Boris Kuznetsov

The first two chapters develop ML-based models that generate conditional SDF estimates efficiently using conditioning information sets, resulting in minimal pricing errors and superior Sharpe ratios compared to traditional conditional asset pricing models. ...

EPFL2025

Machine learning-enabled estimation of cardiac output from peripheral waveforms is independent of blood pressure measurement location in an in silico population

Ramin Mohammadi, Nikolaos Stergiopoulos, Georgios Rovas, Lydia Aslanidou, Sokratis Anagnostopoulos

Monitoring of cardiac output (CO) is a mainstay of hemodynamic management in the acutely or critically ill patient. Invasive determination of CO using thermodilution, albeit regarded as the gold standard, is cumbersome and bears risks inherent to catheteri ...

2025

Design of robotic physical intelligence

Francesco Stella

Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...

EPFL2025

Perspective on nonvolatile magnon-signal storage and in-memory computation for low-power consuming magnonics

Arnaud Emile S. Nizet, Dirk Grundler, Andrea Mucchietto, Mingran Xu, Shreyas Sanjay Joglekar

Magnons are the quanta of spin waves and transport angular momenta through magnetically ordered materials. They can be used to distribute and control on-chip GHz signals without charge flow, thereby avoiding Joule heating. Beyond multiplexed signal process ...

AIP Publishing2025

Harnessing deep learning to detect bronchiolitis obliterans syndrome from chest CT

Pascal Fua, Michele De Palma, Nahal Mansouri, Jakub Jan Gwizdala

BackgroundBronchiolitis Obliterans Syndrome (BOS), a fibrotic airway disease that may develop after lung transplantation, conventionally relies on pulmonary function tests (PFTs) for diagnosis due to limitations of CT imaging. Deep neural networks (DNNs) h ...

SPRINGERNATURE2025

TimEHR: Image-based Time Series Generation for Electronic Health Records

David Atienza Alonso, Anisoara Ionescu, Hojjat Karami

Time series in Electronic Health Records (EHRs) present unique challenges for generative models, such as irregular sampling, missing values, and high dimensionality. In this paper, we propose a novel generative adversarial network (GAN) model, TimEHR, to g ...

Institute of Electrical and Electronics Engineers (IEEE)2025

A Reconfigurable High-Dynamic Range ∆Σ Front-End with Event-Based Decimation for Bandwidth-Efficient Implantable Neural Interfaces

David Atienza Alonso, Giovanni Ansaloni, Pasquale Davide Schiavone, Juan Pablo Sapriza Araujo

As the demand for high channel counts and high-resolution recordings of neural activity continues to grow, the increased power and data rate generated impose hard constraints on the telemetry capabilities of wireless implantable neural interfaces. To addre ...

IEEE2025

Combining physics-based and data-driven models: advancing the frontiers of research with scientific machine learning

Alfio Quarteroni

Scientific Machine Learning (SciML) is a recently emerged research field which combines physics-based and data-driven models for the numerical approximation of differential problems. Physics-based models rely on the physical understanding of the problem at ...

2025

Edge-Cloud Collaborated Object Detection via Bandwidth Adaptive Difficult-Case Discriminator

Yung-Cheng Chiang

Object detection, a fundamental task in computer vision, is crucial for various intelligent edge computing applications. However, object detection algorithms are usually heavy in computation, hindering their deployments on resource-constrained edge devices ...

2025

Slope Deformation Prediction Combining Particle Swarm Optimization-Based Fractional-Order Grey Model and K-Means Clustering

Sen Zheng

Slope deformation poses significant risks to infrastructure, ecosystems, and human safety, making early and accurate predictions essential for mitigating slope failures and landslides. In this study, we propose a novel approach that integrates a fractional ...

2025

Deep-learning models of the ascending proprioceptive pathway are subject to illusions

Olaf Blanke, Alexander Mathis, Merkourios Simos, Adriana Perez Rotondo, Florian Axel Raphaël David

Proprioception is essential for perception and action. Like any other sense, proprioception is also subject to illusions. In this study, we model classic proprioceptive illusions in which tendon vibrations lead to biases in estimating the state of the body ...

Wiley2025

Effect of Extrinsic Reward on Motor Plasticity during Skill Learning

Friedhelm Christoph Hummel, Pierre Theopistos Vassiliadis

Human motor skill acquisition is improved by performance feedback, and coupling such feedback with extrinsic reward (such as money) can enhance skill learning. However, the neurophysiology underlying such behavioral effect is unclear. To bridge this gap, w ...

2025

Diffusion Stochastic Optimization for Min-Max Problems

Ali H. Sayed, Haoyuan Cai

The optimistic gradient method is useful in addressing minimax optimization problems. Motivated by the observation that the conventional stochastic version suffers from the need for a large batch size on the order of O(ϵ-2) to achieve an ϵ-stationary solut ...

2025

Stereo Hand-Object Reconstruction for Human-to-Robot Handover

Andrea Cavallaro

Jointly estimating hand and object shape facilitates the grasping task in human-to-robot handovers. Relying on handcrafted prior knowledge about the geometric structure of the object fails when generalising to unseen objects, and depth sensors fail to dete ...

2025

The topology of a chaotic attractor in the Kuramoto-Sivashinsky equation

Tobias Schneider, Pierre Beck

The Birman-Williams theorem gives a connection between the collection of unstable periodic orbits (UPOs) contained within a chaotic attractor and the topology of that attractor, for three-dimensional systems. In certain cases, the fractal dimension of a ch ...

2025

DATA-DRIVEN INVERSE DESIGN METHOD FOR TURBOMACHINERY

Fernando Perez Cruz, Luis Salamanca Miño, Firat Ozdemir

A data-driven inverse design method based on neural networks is proposed for turbomachinery. In the devised methodology, design parameters are provided as input to the neural network, and performance attributes, e.g. efficiency, as output. Once trained, th ...

American Society of Mechanical Engineers (ASME)2024

Neural Exponential Stabilization of Control-affine Nonlinear Systems

Giancarlo Ferrari Trecate, Muhammad Zakwan

This paper proposes a novel learning-based approach for achieving exponential stabilization of nonlinear control-affine systems. We leverage the Control Contraction Metrics (CCMs) framework to co-synthesize Neural Contraction Metrics (NCMs) and Neural Netw ...

Institute of Electrical and Electronics Engineers Inc.2024

Robust time series denoising with learnable wavelet packet transform

Olga Fink, Gaëtan Michel Frusque

Noise in the data is one of the main cause of model performance drop. Denoising is therefore a critical step in most data pipelines. In this paper we propose to fuse the learning abilities of Neural Network with the well-proven efficiency of the wavelet pa ...

2024

On the different regimes of stochastic gradient descent

Matthieu Wyart, Antonio Sclocchi

Modern deep networks are trained with stochastic gradient descent (SGD) whose key hyperparameters are the number of data considered at each step or batch size B, and the step size or learning rate n. For small B and large n, SGD corresponds to a stochastic ...

National Academy of Sciences2024