Related papers: Physics-Informed Adaptive Deep Koopman Operator Mo…

Physics-Informed Neural Networks (PINNs) provide a mesh-free approach for solving differential equations by embedding physical constraints into neural network training. However, PINNs tend to overfit within the training domain, leading to…

Physics-Informed Neural Networks present a novel approach in SciML that integrates physical laws in the form of partial differential equations directly into the NN through soft constraints in the loss function. This work studies the…

In this work, we consider a state estimation problem for large-scale nonlinear processes in the absence of first-principles process models. By exploiting process operation data, both process modeling and state estimation design are…

Learning dexterous manipulation skills presents significant challenges due to complex nonlinear dynamics that underlie the interactions between objects and multi-fingered hands. Koopman operators have emerged as a robust method for modeling…

Mobile robot navigation can be challenged by system uncertainty. For example, ground friction may vary abruptly causing slipping, and noisy sensor data can lead to inaccurate feedback control. Traditional model-based methods may be limited…

We propose a fully data-driven, Koopman-based framework for statistically robust control of discrete-time nonlinear systems with linear embeddings. Establishing a connection between the Koopman operator and contraction theory, it offers…

Physics-informed neural networks (PINNs) have been widely applied in different fields due to their effectiveness in solving partial differential equations (PDEs). However, the accuracy and efficiency of PINNs need to be considerably…

Physics-Informed Machine Learning (PIML) has gained momentum in the last 5 years with scientists and researchers aiming to utilize the benefits afforded by advances in machine learning, particularly in deep learning. With large scientific…

Data-driven neural Koopman operator theory has emerged as a powerful tool for linearizing and controlling nonlinear robotic systems. However, the performance of these data-driven models fundamentally depends on the trade-off between sample…

With the increasing availability of large scale datasets, computational power and tools like automatic differentiation and expressive neural network architectures, sequential data are now often treated in a data-driven way, with a dynamical…

This paper proposes a distributed data-driven framework for dynamics learning, termed distributed deep Koopman learning using partial trajectories (DDKL-PT). In this framework, each agent in a multi-agent system is assigned a partial…

This paper presents a study of the Koopman operator theory and its application to optimal control of a multi-robot system. The Koopman operator, while operating on a set of observation functions of the state vector of a nonlinear system,…

In the development of model predictive controllers for PDE-constrained problems, the use of reduced order models is essential to enable real-time applicability. Besides local linearization approaches, Proper Orthogonal Decomposition (POD)…

This paper explores a simple question: can we model the internal transformations of a neural network using dynamical systems theory? We introduce Koopman autoencoders to capture how neural representations evolve through network layers,…

Analyzing the spectral properties of the Koopman operator is crucial for understanding and predicting the behavior of complex stochastic dynamical systems. However, the accuracy of data-driven estimation methods, such as Extended Dynamic…

The paper presents a framework for online learning of the Koopman operator using streaming data. Many complex systems for which data-driven modeling and control are sought provide streaming sensor data, the abundance of which can present…

Soft robots are challenging to model and control as inherent non-linearities (e.g., elasticity and deformation), often requires complex explicit physics-based analytical modeling (e.g., a priori geometric definitions). While machine…

This paper proposes a meshless deep learning algorithm, enriched physics-informed neural networks (EPINNs), to solve dynamic Poisson-Nernst-Planck (PNP) equations with strong coupling and nonlinear characteristics. The EPINNs takes the…

Numerical methods such as finite element have been flourishing in the past decades for modeling solid mechanics problems via solving governing partial differential equations (PDEs). A salient aspect that distinguishes these numerical…

Multi-layer perceptrons (MLP's) have been extensively utilized in discovering Deep Koopman operators for linearizing nonlinear dynamics. With the emergence of Kolmogorov-Arnold Networks (KANs) as a more efficient and accurate alternative to…