Learning Interpretable Dynamics from Images of a Freely Rotating 3D Rigid BodyDownload PDF

Published: 01 Feb 2023, Last Modified: 13 Feb 2023Submitted to ICLR 2023Readers: Everyone
Keywords: Deep Learning, Dynamics, 3D, Rigid Body, Images, Physics informed
TL;DR: Using Hamiltonian structure to learn interpretable dynamics from images of rotating 3D objects
Abstract: In many real-world settings, image observations of freely rotating 3D rigid bodies, such as satellites, may be available when low-dimensional measurements are not. However, the high-dimensionality of image data precludes the use of classical estimation techniques to learn the dynamics and a lack of interpretability reduces the usefulness of standard deep learning methods. In this work, we present a physics-informed neural network model to estimate and predict 3D rotational dynamics from image sequences. We achieve this using a multi-stage prediction pipeline that maps individual images to a latent representation homeomorphic to $\mathbf{SO}(3)$, computes angular velocities from latent pairs, and predicts future latent states using the Hamiltonian equations of motion with a learned representation of the Hamiltonian. We demonstrate the efficacy of our approach on a new rotating rigid-body dataset with sequences of rotating cubes and rectangular prisms with uniform and non-uniform density.
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