Publications associées à On-line learning and modulation of periodic movements with nonlinear dynamical systems

Publications associées (47)

Learning to Assemble with Alternative Plans

Gabriel Rémi Vallat, Maryam Kamgarpour, Stefana Parascho, Ziqi Wang, Jingwen Wang

We present a reinforcement learning framework for constructing assemblies composed of rigid parts, which are commonly seen in many historical masonry buildings and bridges. Traditional construction methods for such structures often depend on dense scaffold ...

Association for Computing Machinery (ACM)2025

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

Posterior-Based Analysis of Spatio-Temporal Features for Sign Language Assessment

Neha Tarigopula

Sign Language conveys information through multiple channels composed of manual (handshape, hand movement) and non-manual (facial expression, mouthing, body posture) components. Sign language assessment involves giving granular feedback to a learner, in ter ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2025

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

How Gradient Descent Balances Features: A Dynamical Analysis For Two-Layer Neural Networks

Volkan Cevher, Fanghui Liu, Zhenyu Zhu

This paper investigates the fundamental regression task of learning k neurons (a.k.a. teachers) from Gaussian input, using two-layer ReLU neural networks with width m (a.k.a. students) and m, k = O(1), trained via gradient descent under proper initializati ...

2025

Hitting with Different Joints of a Robotic Manipulator

Aude Billard, Harshit Khurana

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

2024

A Multicomponent Reaction-Based Platform Opens New Avenues in Aryl Hydrocarbon Receptor Modulation

Nicolas Thomä

A multidisciplinary platform is presented to address aryl hydrocarbon receptor (AhR) modulation. A rewired Yonemitsu multicomponent reaction with indole 2-carboxaldehydes and nucleophilic species was designed to access a family of 6-substituted indolocarba ...

American Chemical Society (ACS)2025

Foundations of a New Learning Paradigm in AI Grounded in the Principles of Evolutionary Developmental Biology

Zeki Doruk Erden

Contemporary AI faces important limitations that remain unresolved despite significant successes. Chief among these are the inability to acquire new knowledge without destroying old, the incomprehensible and nonengineerable nature of internal representatio ...

EPFL2025

Mspo: a Machine Learning Hyperparameter Optimization Method for Enhanced Breast Cancer Image Classification

Zaffar Ahmed Shaikh

As one of the major threats to women's health worldwide, breast cancer requires early diagnosis and accurate classification, since they are key to optimizing therapeutic interventions and ensuring precise prognosis. Recently, deep learning has demonstrated ...

SAGE PUBLICATIONS LTD2025

Functional-Basis Analysis of Non-Stationary Signals in Modern Power Grids: Theory and Implementation in Embedded Systems

Alexandra Cameron Karpilow

Situational awareness strategies are essential for the reliable and secure operation of the electric power grid which represents critical infrastructure in modern society. With the rise of converter-interfaced renewable generation and the consequent shift ...

EPFL2024

Eflop: a Sparsity-aware Metric for Evaluating Computational Cost in Spiking and Non-spiking Neural Networks

Liza Carol Andrea Dunbar

Deploying energy-efficient deep neural networks on energy-constrained edge devices is an important research topic in both machine learning and circuit design communities. Both artificial neural networks (ANNs) and spiking neural networks (SNNs) have been p ...

IOP Publishing Ltd2025

Domain shift, domain adaptation, and generalization: A focus on MRI

Tobias Kober, Meritxell Bach Cuadra, Veronica Lily Ravano, Jonas Richiardi

Differences in acquisition protocols or hardware result in measurable changes in image characteristics. These differences affect distributional properties and can also affect the spatial and temporal characteristics of the images. Likewise, the distributio ...

Academic Press2025

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Alcherio Martinoli, Wanting Jin

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

2024

Context selectivity with dynamic availability enables lifelong continual learning

Wulfram Gerstner, Guillaume Emmanuel Fernand Bellec, Martin Louis Lucien Rémy Barry

“You never forget how to ride a bike”, – but how is that possible? The brain is able to learn complex skills, stop the practice for years, learn other skills in between, and still retrieve the original knowledge when necessary. The mechanisms of this capab ...

Elsevier BV2025

The Skin of Venice: A Computational Approach to the City's Urban Structure

Paul Robert Guhennec

This thesis explores the how computational methods can be used to enrich the history of architecture. Using Venice as a case study, it establishes a rich and multifaceted information system, made up of temporal, stylistic, photographic, architectural, and ...

EPFL2025

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Paul Scharnhorst

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

EPFL2024

Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey

Auke Ijspeert, Astha Gupta

Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion control, ...

IOP Publishing Ltd2025

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

A phase transition between positional and semantic learning in a solvable model of dot-product attention

Lenka Zdeborová, Florent Gérard Krzakala, Hugo Chao Cui, Freya Behrens

Many empirical studies have provided evidence for the emergence of algorithmic mechanisms (abilities) in the learning of language models, that lead to qualitative improvements in the model capabilities. Yet, a theoretical characterization of how such mecha ...

2025

Robust machine learning for neuroscientific inference

Steffen Schneider

Modern neuroscience research is generating increasingly large datasets, from recording thousands of neurons over long timescales to behavioral recordings of animals spanning weeks, months, or even years. Despite a great variety in recording setups and expe ...

EPFL2024