Learning Physics Constrained Dynamics Using Autoencoders

Tsung Yen Yang, Justinian Rosca, Karthik Narasimhan, Peter J. Ramadge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

We consider the problem of estimating states (e.g., position and velocity) and physical parameters (e.g., friction, elasticity) from a sequence of observations when provided a dynamic equation that describes the behavior of the system. The dynamic equation can arise from first principles (e.g., Newton's laws) and provide useful cues for learning, but its physical parameters are unknown. To address this problem, we propose a model that estimates states and physical parameters of the system using two main components. First, an autoencoder compresses a sequence of observations (e.g., sensor measurements, pixel images) into a sequence for the state representation that is consistent with physics by including a simulation of the dynamic equation. Second, an estimator is coupled with the autoencoder to predict the values of the physical parameters. We also theoretically and empirically show that using Fourier feature mappings improves the generalization of the estimator in predicting physical parameters compared to raw state sequences when learning from high-frequency data. In our experiments on three visual and one sensor measurement tasks, our model imposes interpretability on latent states and achieves improved generalization performance for long-term prediction of system dynamics over state-of-the-art baselines.

Original languageEnglish (US)
Title of host publicationAdvances in Neural Information Processing Systems 35 - 36th Conference on Neural Information Processing Systems, NeurIPS 2022
EditorsS. Koyejo, S. Mohamed, A. Agarwal, D. Belgrave, K. Cho, A. Oh
PublisherNeural information processing systems foundation
ISBN (Electronic)9781713871088
StatePublished - 2022
Event36th Conference on Neural Information Processing Systems, NeurIPS 2022 - New Orleans, United States
Duration: Nov 28 2022Dec 9 2022

Publication series

NameAdvances in Neural Information Processing Systems
Volume35
ISSN (Print)1049-5258

Conference

Conference36th Conference on Neural Information Processing Systems, NeurIPS 2022
Country/TerritoryUnited States
CityNew Orleans
Period11/28/2212/9/22

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Information Systems
  • Signal Processing

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