Publications associées à Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

Global existence for perturbations of the 2D stochastic Navier-Stokes equations with space-time white noise

We prove global in time well-posedness for perturbations of the 2D stochastic Navier-Stokes equations partial derivative( t)u + u center dot del u = Delta u - del p + sigma + xi, u(0, center dot ) = u(0),div (u) = 0, driven by additive space-time white noi ...

Springernature2024

Exploiting the Signal-Leak Bias in Diffusion Models

Sabine Süsstrunk, Radhakrishna Achanta, Mahmut Sami Arpa, Athanasios Fitsios, Martin Nicolas Everaert

There is a bias in the inference pipeline of most diffusion models. This bias arises from a signal leak whose distribution deviates from the noise distribution, creating a discrepancy between training and inference processes. We demonstrate that this signa ...

2024

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

The Privacy Power of Correlated Noise in Decentralized Learning

Rachid Guerraoui, Martin Jaggi, Anastasiia Koloskova, Youssef Allouah, Aymane El Firdoussi

Decentralized learning is appealing as it enables the scalable usage of large amounts of distributed data and resources (without resorting to any central entity), while promoting privacy since every user minimizes the direct exposure of their data. Yet, wi ...

PMLR2024

Robot Learning using Tensor Networks

Suhan Narayana Shetty

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

EPFL2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

Noise-induced transitions past the onset of a steady symmetry-breaking bifurcation: The case of the sudden expansion

François Gallaire, Edouard Boujo, Yves-Marie François Ducimetière

We consider fluid flows, governed by the Navier-Stokes equations, subject to a steady symmetry-breaking bifurcation and forced by a weak noise acting on a slow timescale. By generalizing the multiple-scale weakly nonlinear expansion technique employed in t ...

2024

Disentangling 1/f noise from confined ion dynamics

Théo Denis Tobias Emmerich

Ion transport through biological and solid-state nanochannels is known to be a highly noisy process. The power spectrum of current fluctuations is empirically known to scale like the inverse of frequency, following the long-standing yet poorly understood H ...

ROYAL SOC CHEMISTRY2023

Universal and adaptive methods for robust stochastic optimization

Ali Kavis

Within the context of contemporary machine learning problems, efficiency of optimization process depends on the properties of the model and the nature of the data available, which poses a significant problem as the complexity of either increases ad infinit ...

EPFL2023

Multi-agent Learning with Privacy Guarantees

Elsa Rizk

A multi-agent system consists of a collection of decision-making or learning agents subjected to streaming observations from some real-world phenomenon. The goal of the system is to solve some global learning or optimization problem in a distributed or dec ...

EPFL2023

WINC: A Wireless IoT Network for Multi-Noise Source Cancellation

Haitham Al Hassanieh, Junfeng Guan, Jiaming Wang

This paper introduces Wireless IoT-based Noise Cancellation (WINC) which defines a framework for leveraging a wireless network of IoT microphones to enhance active noise cancellation in noise-canceling headphones. The IoT microphones forward ambient noise ...

Assoc Computing Machinery2023

Optimal digital filter selection for remote photoplethysmography (rPPG) signal conditioning

Ata Jedari Golparvar

Remote photoplethysmography (rPPG) using camera-based imaging has shown excellent potential recently in vital signs monitoring due to its contactless nature. However, the optimum filter selection for pre-processing rPPG data in signal conditioning is still ...

IOP Publishing Ltd2023

Exploration-based model learning with self-attention for risk-sensitive robot control

Sudong Lee

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023

Functional data analysis with rough sample paths?

Victor Panaretos, Neda Mohammadi Jouzdani

Functional data are typically modeled as sample paths of smooth stochastic processes in order to mitigate the fact that they are often observed discretely and noisily, occasionally irregularly and sparsely. The smoothness assumption is imposed to allow for ...

TAYLOR & FRANCIS LTD2024

Data for: "A Neural-Network-Based Convex Regularizer for Inverse Problems"

Michaël Unser, Stanislas Ducotterd, Pakshal Narendra Bohra, Alexis Marie Frederic Goujon, Sebastian Jonas Neumayer

Data for: "A Neural-Network-Based Convex Regularizer for Inverse Problems". The corresponding scripts can be accessed on GitHub (https://github.com/axgoujon/convex_ridge_regularizers). The data is organized as follows: - ct_data_sets.tar.gz: contains prepr ...

Zenodo2023

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

Jan Skaloud, Davide Antonio Cucci, Kenneth Joseph Paul

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

2023

THE COMPACT SUPPORT PROPERTY FOR SOLUTIONS TO THE STOCHASTIC PARTIAL DIFFERENTIAL EQUATIONS WITH COLORED NOISE

Jaeyun Yi

We study the compact support property for solutions of the following stochastic partial differential equations: partial derivative tu=aijuxixj(t,x)+biuxi(t,x)+cu+h(t,x,u(t,x))F-center dot(t,x),(t,x)is an element of(0,infinity)xRd,where F-center dot is a sp ...

Siam Publications2023

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

IEEE2023

Distributionally Robust Linear Quadratic Control

Daniel Kuhn, Cagil Kocyigit, Bahar Taskesen

Linear-Quadratic-Gaussian (LQG) control is a fundamental control paradigm that is studied in various fields such as engineering, computer science, economics, and neuroscience. It involves controlling a system with linear dynamics and imperfect observations ...

2023