相关论文: Beyond Inverted Pendulums: Task-optimal Simple Mod…

Reduced-order models are central to motion planning and control of quadruped robots, yet existing templates are often hand-crafted for a specific locomotion modality. This motivates the need for automatic methods that extract task-specific,…

Deterministic solutions to the Sn transport equation can be computationally expensive to calculate. Reduced Order Models (ROMs) provide an efficient means of approximating the Full Order Model (FOM) solution. We propose a novel approach for…

High-fidelity simulations of mixing and combustion processes are generally computationally demanding and time-consuming, hindering their wide application in industrial design and optimization. The present study proposes parametric reduced…

In this paper, we propose an equation-based parametric Reduced Order Model (ROM), whose accuracy is improved with data-driven terms added into the reduced equations. These additions have the aim of reintroducing contributions that in…

The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…

For a nonlinear dynamical system that depends on parameters, the paper introduces a novel tensorial reduced-order model (TROM). The reduced model is projection-based, and for systems with no parameters involved, it resembles proper…

Nonlinear aeroelastic reduced-order models (ROMs) based on machine learning or artificial intelligence algorithms can be complex and computationally demanding to train, meaning that for practical aeroelastic applications, the conservative…

Forecasting atmospheric flows with traditional discretization methods, also called full order methods (e.g., finite element methods or finite volume methods), is computationally expensive. We propose to reduce the computational cost with a…

The Kolmogorov $n$-width of the solution manifolds of transport-dominated problems can decay slowly. As a result, it can be challenging to design efficient and accurate reduced order models (ROMs) for such problems. To address this issue,…

Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently employed in model-based control schemes, dimensionality…

Whole-body optimizers have been successful at automatically computing complex dynamic locomotion behaviors. However they are often limited to offline planning as they are computationally too expensive to replan with a high frequency.…

Reduced-order models (ROMs) have become an essential tool for reducing the computational cost of fluid flow simulations. While standard ROMs can efficiently approximate laminar flows, their accuracy often suffers in convection-dominated…

We present a reduced-order model (ROM) methodology for inverse scattering problems in which the reduced-order models are data-driven, i.e. they are constructed directly from data gathered by sensors. Moreover, the entries of the ROM contain…

In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…

This paper explores how to identify a reduced order model (ROM) from a physical system. A ROM captures an invariant subset of the observed dynamics. We find that there are four ways a physical system can be related to a mathematical model:…

We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive control (MPC) and online learning of residual dynamics. The…

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…

Despite advancements in high-performance computing and modern numerical algorithms, computational cost remains prohibitive for multi-query kinetic plasma simulations. In this work, we develop data-driven reduced-order models (ROMs) for…

Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior which is assumed to be optimal with respect to an unknown cost…

Numerical solvers of partial differential equations (PDEs) have been widely employed for simulating physical systems. However, the computational cost remains a major bottleneck in various scientific and engineering applications, which has…