The Road to Learning Explainable Inverse Kinematic Models: Graph Neural Networks as Inductive Bias for Symbolic Regression
Faculty of Computer Science, Otto-von-Guericke-University Magdeburg（马格德堡奥托·冯·格里克大学计算机科学学院）；Fraunhofer Institute for Transportation and Infrastructure Systems IVI（弗劳恩霍夫运输与基础设施系统研究所IVI）
Pravin Pandey, Julia Reuter, Christoph Steup, Sanaz Mostaghim
This paper shows how a Graph Neural Network (GNN) can be used to learn an Inverse Kinematics (IK) based on an automatically generated dataset. The generated Inverse Kinematics is generalized to a family of manipulators with the same Degree of Freedom (DOF), but varying link length configurations. The results indicate a position error of less than 1.0 cm for 3 DOF and 4.5 cm for 5 DOF, and orientation error of 2$^\circ$ for 3 DOF and 8.2$^\circ$ for 6 DOF, which allows the deployment to certain real world-problems. However, out-of-domain errors and lack of extrapolation can be observed in the resulting GNN. An extensive analysis of these errors indicates potential for enhancement in the future. Consequently, the generated GNNs are tailored to be used in future work as an inductive bias to generate analytical equations through symbolic regression.
FLEXIBLE: Forecasting Cellular Traffic by Leveraging Explicit Inductive Graph-Based Learning
Orange Innovation（奥兰治创新公司）；Nantes University（南特大学）；École Centrale Nantes（南特中央理工学院）；IMT Atlantique（大西洋电信与技术学院）；CNRS（法国国家科学研究中心）；INRIA（法国国家信息与自动化研究所）；LS2N（南特数字科学实验室）；University of Luxembourg（卢森堡大学）；SnT（卢森堡大学安全、可靠性和信任中心）
Symbolic Imitation Learning: From Black-Box to Explainable Driving Policies
Department of Science and Engineering, the George Washington University（科学与工程系，乔治·华盛顿大学）；Autonomous Vehicles Lab, Department of Mechanical Engineering, University of Surrey（自主车辆实验室，机械工程系，萨里大学）
