Publications associées à Autonomous Learning of Internal Dynamic Models for Reaching Tasks

Publications associées (41)

Dependable learning and control through Neural ODEs

Neural Networks (NNs), renowned for their universal approximation capabilities, have proven well-suited for parametrizing nonlinear control policies and modeling complex processes from available data. However, several NN architectures are physics-agnostic, ...

EPFL2025

Controlled learning of pointwise nonlinearities in neural-network-like architectures

Michaël Unser, Alexis Marie Frederic Goujon, Stanislas Ducotterd

We present a general variational framework for the training of freeform nonlinearities in layered computational architectures subject to some slope constraints. The regularization that we add to the traditional training loss penalizes the second-order tota ...

2025

A Simple Framework for Open-Vocabulary Zero-Shot Segmentation

Jean-Philippe Thiran, Seyedbehzad Bozorgtabar, Thomas Grégoire Stegmüller

Zero-shot classification capabilities naturally arise in models trained within a vision-language contrastive framework. Despite their classification prowess, these models struggle in dense tasks like zero-shot open-vocabulary segmentation. This deficiency ...

International Conference on Learning Representations, ICLR2025

Testing Theories of the Glass Transition with the Same Liquid but Many Kinetic Rules

Matthieu Wyart

We study the glass transition by exploring a broad class of kinetic rules that can significantly modify the normal dynamics of supercooled liquids while maintaining thermal equilibrium. Beyond the usual dynamics of liquids, this class includes dynamics in ...

Amer Physical Soc2024

Deterministic equivalent and error universality of deep random features learning

Hugo Chao Cui

This manuscript considers the problem of learning a random Gaussian network function using a fully connected network with frozen intermediate layers and trainable readout layer. This problem can be seen as a natural generalization of the widely studied ran ...

2024

Frustrated magnets in the limit of infinite dimensions: Dynamics and disorder-free glass transition

Achille Mauri

We study the statistical mechanics and the equilibrium dynamics of a system of classical Heisenberg spins with frustrated interactions on a d -dimensional simple hypercubic lattice, in the limit of infinite dimensionality d -> infinity . In the analysis we ...

Amer Physical Soc2024

Nonlinear two-scale beam simulations accelerated by thermodynamics-informed neural networks

Konstantinos Karapiperis

We introduce an efficient computational framework for the simulation of complex beam networks and architected materials. At its core stands a thermodynamics-informed neural network, which serves as a surrogate material model for the cross-sectional respons ...

2024

Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

Simon Nessim Henein, Loïc Benoît Tissot-Daguette

The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

2024

Multi-Agent Learning in Contextual Games under Unknown Constraints

Maryam Kamgarpour, Anna Maria Maddux

We consider the problem of learning to play a repeated contextual game with unknown reward and unknown constraints functions. Such games arise in applications where each agent’s action needs to belong to a feasible set, but the feasible set is a priori unk ...

2024

Towards Trustworthy Deep Learning for Image Reconstruction

Alexis Marie Frederic Goujon

The remarkable ability of deep learning (DL) models to approximate high-dimensional functions from samples has sparked a revolution across numerous scientific and industrial domains that cannot be overemphasized. In sensitive applications, the good perform ...

EPFL2024

System for predicting a prognosis of the neuropsychological and/or neuropsychiatric status in a subject

Olaf Blanke, Fosco Bernasconi

The present invention relates to systems and methods for predicting a prognosis of the neuropsychological and/or neuropsychiatric status in a subject based on reports of Minor Hallucination (MH) events in combination with electrophysiological data of the s ...

2024

PPG-Based Sleep Staging Using SleepPPGNet: Extension to Wearables, Improvements, Limitations

Jean-Philippe Thiran

The diagnosis of sleep disorders is still often based on polysomnography, an in-lab exam allowing experts to perform accurate sleep staging, although this is labor-intensive, expensive, and exposing patients to unusual sleep conditions. A state-of-the-art ...

Institute of Electrical and Electronics Engineers Inc.2024

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Alexander Gehrke

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

EPFL2023

End-to-end kernel learning via generative random Fourier features

Fanghui Liu

Random Fourier features (RFFs) provide a promising way for kernel learning in a spectral case. Current RFFs-based kernel learning methods usually work in a two-stage way. In the first-stage process, learn-ing an optimal feature map is often formulated as a ...

ELSEVIER SCI LTD2023

Bayes-optimal Learning of Deep Random Networks of Extensive-width

Lenka Zdeborová, Florent Gérard Krzakala, Hugo Chao Cui

We consider the problem of learning a target function corresponding to a deep, extensive-width, non-linear neural network with random Gaussian weights. We consider the asymptotic limit where the number of samples, the input dimension and the network width ...

2023

Implicit Distance Functions: Learning and Applications in Robotics

Mikhail Koptev

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

Indoor Real-time localization system design for Internet of Things applications

Pooneh Mohaghegh

With the prevalence of smartphones, watches, and Internet of Things (IoT) devices, the ability to track their positions is becoming increasingly important. For many indoor positioning systems (IPSs), providing an uninterrupted flow of information in real-t ...

EPFL2023

Density estimation in RKHS with application to Korobov spaces in high dimensions

Fabio Nobile, Yoshihito Kazashi

A kernel method for estimating a probability density function from an independent and identically distributed sample drawn from such density is presented. Our estimator is a linear combination of kernel functions, the coefficients of which are determined b ...

2023

Dynamical Low-Rank Approximation for Stochastic Differential Equations

Fabio Nobile, Yoshihito Kazashi, Fabio Zoccolan

In this paper, we set the mathematical foundations of the Dynamical Low-Rank Approximation (DLRA) method for stochastic differential equations (SDEs). DLRA aims at approximating the solution as a linear combination of a small number of basis vectors with r ...

American Mathematical Society (AMS)2025

Quadratic serendipity element shape functions on general planar polygons

Xiaodong Wei

This paper proposes a method for the construction of quadratic serendipity element (QSE) shape functions on planar convex and concave polygons. Existing approaches for constructing QSE shape functions are linear combinations of the pair-wise products of ge ...

ELSEVIER SCIENCE SA2022