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Geometric Learning: Leveraging differential geometry for learning and control

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

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

Technology challenges and integration of the plasma position reflectometer in RFX-mod2

Riccardo Agnello

The integration of the new plasma position reflectometer in the RFX-mod2 experiment (the upgraded version of the previous RFX-mod that operated until 2015) is presented in this contribution. Particular attention has been devoted to the high field side subs ...

Elsevier Science Sa2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Complex Representation Learning with Graph Convolutional Networks for Knowledge Graph Alignment

Thanh Trung Huynh, Quoc Viet Hung Nguyen, Thành Tâm Nguyên

The task of discovering equivalent entities in knowledge graphs (KGs), so-called KG entity alignment, has drawn much attention to overcome the incompleteness problem of KGs. The majority of existing techniques learns the pointwise representations of entiti ...

Wiley-Hindawi2023

A structured prediction approach for robot imitation learning

Aude Billard, Iason Batzianoulis, Anqing Duan

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form of supervised le ...

Sage Publications Ltd2023

Towards Stable and Efficient Adversarial Training against $l_1$ Bounded Adversarial Attacks

Sabine Süsstrunk, Mathieu Salzmann, Yulun Jiang, Chen Liu, Zhuoyi Huang

We address the problem of stably and efficiently training a deep neural network robust to adversarial perturbations bounded by an

l_1

norm. We demonstrate that achieving robustness against

l_1

-bounded perturbations is more challenging than in the

l_2

...

2023

Some Physical Implications Of Absolute Geometries In The Description Of Complex Systems Dynamics

Maria-Alexandra Paun

Some implications of absolute geometries in the description of complex systems dynamics, at various scale resolutions are highlighted. In such context, by means of an analytic geometry of 2 x 2 matrices, a generalization of the standard velocities space in ...

UNIV POLITEHNICA BUCHAREST, SCI BULL2023

Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems

Colin Neil Jones, Roland Schwan, Melanie Nicole Zeilinger, Xuan Truong Nghiem

Physics-informed machine learning (PIML) is a set of methods and tools that systematically integrate machine learning (ML) algorithms with physical constraints and abstract mathematical models developed in scientific and engineering domains. As opposed to ...

IEEE2023

Retraction-based numerical methods for continuation, interpolation and time integration on manifolds

Axel Elie Joseph Séguin

The goal of this thesis is the development and the analysis of numerical methods for problems where the unknown is a curve on a smooth manifold. In particular, the thesis is structured around the three following problems: homotopy continuation, curve inter ...

EPFL2023

T-5 configurations and hyperbolic systems

Carl Johan Peter Johansson, Riccardo Tione

In this paper, we study the rank-one convex hull of a differential inclusion associated to entropy solutions of a hyperbolic system of conservation laws. This was introduced in [B. Kirchheim, S. Muller and V. S(sic)ver & aacute;k, Studying Nonlinear PDE by ...

WORLD SCIENTIFIC PUBL CO PTE LTD2023

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l_1

norm. We demonstrate that achieving robustness against

l_1

-bounded perturbations is more challenging than in the

l_2

...

2023