Tag
Proposes a hierarchical Bayesian framework for meta-learning in dynamical systems from multiple sparse, noisy datasets, using gradient-based MCMC with an embedded ODE solver for efficient posterior inference of shared and dataset-specific parameters.
This paper introduces In-Context World Modeling (ICWM), a framework that enables robot policies to infer system variables from self-generated interactions, allowing adaptation to novel configurations without parameter updates by treating system identification as an in-context adaptation problem. It outperforms standard VLA baselines on novel camera viewpoints in simulation and real-world experiments.
The paper proposes a class of time-varying deep state-space models where dynamics are learned via a basis function expansion, enabling adaptive modeling of switching systems. The approach outperforms time-invariant counterparts on synthetic switching data and a speech denoising task.
This paper extends Port-Hamiltonian Neural Networks (PHNNs) to partial differential equations (PDEs) for learning nonlinear string dynamics from data. The approach recovers both the Hamiltonian and dissipation, outperforming non-physics-informed baselines in accuracy and interpretability.