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Institut des Sciences de l'Ingénierie de Robotique

Academic institutioneurope · fr
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Research library57linked papers
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Selected work

Representative Papers

Learning a Neural Solver for Parametric PDE to Enhance Physics-Informed Methods

Oct 09, 2024International Conference on Learning Representations

Physics-informed neural networks (PINNs) face challenges—including ill-conditioned optimization, slow convergence, and poor generalization—when solving parametric partial differential equations (PDEs). This paper proposes a data-driven neural solver that parameterizes adaptive gradient descent as a neural network, jointly modeling distributions of PDE coefficients and initial/boundary conditions under physical constraints, while dynamically conditioning the optimizer to alleviate loss function ill-conditioning. To our knowledge, this is the first work to introduce neural solvers into parametric PDE settings, enabling end-to-end training via implicit differentiation and backpropagation. Experiments demonstrate a 2–5× speedup in training with enhanced convergence stability. At inference, the solver generalizes robustly to unseen parameter combinations, significantly reducing required iterations while maintaining high accuracy.

2 citationsRead paper

Driving on Registers

Jan 08, 2026arXiv.org

This work addresses the challenge of simultaneously achieving efficiency, accuracy, and controllability in end-to-end autonomous driving by proposing a lightweight architecture based on a pre-trained vision Transformer. The approach introduces a camera-aware register token mechanism to effectively compress multi-camera feature representations and employs two lightweight Transformer decoders to jointly generate candidate trajectories along with interpretable sub-scores—such as safety, comfort, and efficiency—enabling behavior-conditioned reasoning. Evaluated on the NAVSIM-v1, NAVSIM-v2, and HUGSIM closed-loop simulation benchmarks, the method matches or exceeds state-of-the-art performance, demonstrating that a pure Transformer-based solution can achieve high efficiency, accuracy, and adaptability in autonomous driving.

1 citationsRead paper
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