4 papers
Simultaneous State Estimation and Online Model Learning in a Soft Robotic System
Jan-Hendrik Ewering, Max Bartholdt, Simon F. G. Ehlers +3
Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is ty…
Structure-Preserving Gaussian Processes Via Discrete Euler-Lagrange Equations
Jan-Hendrik Ewering, Kathrin FlaÃkamp, Niklas Wahlström +2
In this paper, we propose Lagrangian Gaussian Processes (LGPs) for probabilistic and data-efficient learning of dynamics via discrete forced Euler-Lagrange equations. Importantly,…
Learning Dynamics from Input-Output Data with Hamiltonian Gaussian Processes
Jan-Hendrik Ewering, Robin E. Herrmann, Niklas Wahlström +2
Embedding non-restrictive prior knowledge, such as energy conservation laws, into learning methods is a key motive to construct physically consistent dynamics models from limited d…
Repulsive Ensembles for Bayesian Inference in Physics-informed Neural Networks
Philipp Pilar, Markus Heinonen, Niklas Wahlström
Physics-informed neural networks (PINNs) have proven an effective tool for solving differential equations, in particular when considering non-standard or ill-posed settings. When i…