Publications associées à Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks

Publications associées (37)

High-Resolution Predictions of the Fuel and Cladding Temperatures for the 3D PWR Core with Artificial Neural Networks trained on CTF

High resolution multi-physics core solvers predict safety parameters on a local scale with high accuracy while simulating local heterogeneities and their consequences. To achieve this, large computational resources are needed which renders the extensive us ...

American Nuclear Society2025

Interactive symbolic regression with co-design mechanism through offline reinforcement learning

Wenqing Zhou, Olga Fink, Michele Viscione

Symbolic Regression holds great potential for uncovering underlying mathematical and physical relationships from observed data. However, the vast combinatorial space of possible expressions poses significant challenges for previous online search methods an ...

Springer Science and Business Media LLC2025

Combining physics-based and data-driven modeling for building energy systems

Leandro Von Krannichfeldt, Olga Fink

Building energy modeling plays a vital role in optimizing the operation of building energy systems by providing accurate predictions of the building's real-world conditions. In this context, various techniques have been explored, ranging from traditional p ...

2025

Variational Quantum Simulation: A Case Study for Understanding Warm Starts

Marc Sanz Drudis, Zoë Holmes, Thanasilp Supanut, Ricard Puig I Valls

The barren plateau phenomenon, characterized by loss gradients that vanish exponentially with system size, poses a challenge to scaling variational quantum algorithms. Here we explore the potential of warm starts, whereby one initializes closer to a soluti ...

2025

Parsimonious Online Learning with Kernels and Random Features with Applications to Stochastic Optimal Control

Quentin Simon Le Moal

This thesis explores stochastic optimal control through three interconnected contributions: a theoretical framework, and the development of two regression methods, POLK and POLRF, tailored to high-dimensional regression challenges in this domain. In the f ...

EPFL2025

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

Transformers and Large Language Models for Chemistry and Drug Discovery

Philippe Schwaller, Andres Camilo Marulanda Bran

Language modeling has seen impressive progress over the last few years. The invention of the Transformer architecture sparked a revolution in many fields of machine learning, including breakthroughs in chemistry and biology. In this chapter, we explore how ...

Springer Nature2024

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

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

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Rafael Botner Barmak

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

EPFL2024

Fly-Swat or Cannon? Cost-Effective Language Model Choice via Meta-Modeling

Robert West, Maxime Jean Julien Peyrard, Marija Sakota

Generative language models (LMs) have become omnipresent across data science. For a wide variety of tasks, inputs can be phrased as natural language prompts for an LM, from whose output the solution can then be extracted. LM performance has consistently be ...

Assoc Computing Machinery2024

Dynamic Voxels Based on Ego-Conditioned Prediction: An Integrated Spatio-Temporal Framework for Motion Planning

Alexandre Massoud Alahi

Prediction is a vital component of motion planning for autonomous vehicles (AVs). By reasoning about the possible behavior of other target agents, the ego vehicle (EV) can navigate safely, efficiently, and politely. However, most of the existing work overl ...

IEEE Institute of Electrical and Electronics Engineers2024

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

Coupled Electromagnetic-Electrophysiological Modeling of Neural Circuits

Joseph Tharayil

Much of our knowledge about the brain is derived from extracellular recordings of the electric fields produced by neural activity. However, interpretation of these signals is nontrivial. In par- ticular, it is difficult to link macro-scale observations of ...

EPFL2024

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

Energy Management of Price-Maker Community Energy Storage by Stochastic Dynamic Programming

Xue Zhang, Tianshu Yang

In this paper, we propose an analytical stochastic dynamic programming (SDP) algorithm to address the optimal management problem of price-maker community energy storage. As a price-maker, energy storage smooths price differences, thus decreasing energy arb ...

China Electric Power Research Inst2024

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Francesco Mondada, Vaios Papaspyros

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

2024

Small-scale robotic devices for medical interventions in the brain

Mahmut Selman Sakar, Lorenzo Francesco John Noseda

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

2024

Biohybrid Superorganisms—On the Design of a Robotic System for Thermal Interactions With Honeybee Colonies

Louis Arnaud Vahé Piotet, Francesco Mondada, Rafael Botner Barmak, Robert Matthew Mills, Raphael Cherfan

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where collaboration and division of labor enhance survival of the whole colony, and are thus considered “superorganisms”. Historically, studying behaviors involving ...

2024

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