arXivDaily arXiv每日学术速递 周一至周五更新
arXiv周末暂无论文更新,休息一下吧,周末愉快~~
arXiv 2004.11238cs.LGcs.ROcs.SYeess.SYstat.ML
收藏

利用高斯原理学习服从高斯过程的约束动力学

Learning Constrained Dynamics with Gauss Principle adhering Gaussian Processes

Max Planck Institute for Intelligent Systems(马克斯·普朗克智能系统研究所)

A. Rene Geist, Sebastian Trimpe

摘要:

机械系统的约束动力学的识别往往是具有挑战性的。学习方法有望简化分析,但需要大量数据进行训练。我们建议将分析力学的见解与高斯过程回归相结合,以提高模型的数据效率和约束完整性。其结果是一个高斯过程模型,它结合了先验的约束知识,使其预测坚持高斯的最小约束原则。作为回报,系统的加速度的预测自然尊重潜在的非理想(非)完整等式约束。作为推论的结果,我们的模型能够从受约束系统的数据中推断出无约束系统的加速度,并能够在不同的约束配置之间进行知识转移。

英文摘要:

The identification of the constrained dynamics of mechanical systems is often challenging. Learning methods promise to ease an analytical analysis, but require considerable amounts of data for training. We propose to combine insights from analytical mechanics with Gaussian process regression to improve the model's data efficiency and constraint integrity. The result is a Gaussian process model that incorporates a priori constraint knowledge such that its predictions adhere to Gauss' principle of least constraint. In return, predictions of the system's acceleration naturally respect potentially non-ideal (non-)holonomic equality constraints. As corollary results, our model enables to infer the acceleration of the unconstrained system from data of the constrained system and enables knowledge transfer between differing constraint configurations.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

↑