相关论文: Deep Learning of Koopman Representation for Contro…

Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is likely due to practical limitations, such as significant…

Developing agents that can perform complex control tasks from high-dimensional observations is a core ability of autonomous agents that requires underlying robust task control policies and adapting the underlying visual representations to…

This research presents a novel, analytical, Koopman Operator based formulation for position and attitude dynamics which can be used to derive control strategies for underactuated systems. Compared to data driven Koopman based techniques,…

In this paper, a general framework for deep learning-based power control methods for max-min, max-product and max-sum-rate optimization in uplink cell-free massive multiple-input multiple-output (CF mMIMO) systems is proposed. Instead of…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

Recent advances in diffusion-based robot policies have demonstrated significant potential in imitating multi-modal behaviors. However, these approaches typically require large quantities of demonstration data paired with corresponding robot…

Most modern reinforcement learning algorithms optimize a cumulative single-step cost along a trajectory. The optimized motions are often 'unnatural', representing, for example, behaviors with sudden accelerations that waste energy and lack…

Deep Neural Networks (DNNs) are increasingly used in control applications due to their powerful function approximation capabilities. However, many existing formulations focus primarily on tracking error convergence, often neglecting the…

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…

We study the applicability of a Deep Neural Network (DNN) approach to simulate one-dimensional non-relativistic fluid dynamics. Numerical fluid dynamical calculations are used to generate training data-sets corresponding to a broad range of…

Shipboard carbon capture is a promising solution to help reduce carbon emissions in international shipping. In this work, we propose a data-driven dynamic modeling and economic predictive control approach within the Koopman framework. This…

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…

Koopman operators provide a linear framework for data-driven analyses of nonlinear dynamical systems, but their infinite-dimensional nature presents major computational challenges. In this article, we offer an introductory guide to Koopman…

Probabilistic Boolean Networks (PBNs) were introduced as a computational model for the study of complex dynamical systems, such as Gene Regulatory Networks (GRNs). Controllability in this context is the process of making strategic…

We propose a scalable reachability-based framework for probabilistic, data-driven safety verification of unknown nonlinear dynamics. We use Koopman theory with a neural network (NN) lifting function to learn an approximate linear…

This paper proposes a Koopman-based framework for modeling, prediction, and control of unknown nonlinear time-varying systems. We present a novel Koopman-based learning method for predicting the state of unknown nonlinear time-varying…

Dynamic Mode Decomposition (DMD) is a technique to approximate generally non-linear dynamical systems using linear techniques, which are better understood and easier to analyze. Koopman theory extends DMD by transforming the original system…

The strong performance of simple neural networks is often attributed to their nonlinear activations. However, a linear view of neural networks makes understanding and controlling networks much more approachable. We draw from a dynamical…

Dynamical systems provide a comprehensive way to study complex and changing behaviors across various sciences. Many modern systems are too complicated to analyze directly or we do not have access to models, driving significant interest in…

In this paper, we systematically derive a finite set of Koopman based observables to construct a lifted linear state space model that describes the rigid body dynamics based on the dual quaternion representation. In general, the Koopman…