相关论文: Koopman Invertible Autoencoder: Leveraging Forward…

Nonlinear dynamical systems with input delays pose significant challenges for prediction, estimation, and control due to their inherent complexity and the impact of delays on system behavior. Traditional linear control techniques often fail…

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,…

This paper presents a novel Koopman operator formulation for Euler Lagrangian dynamics that employs an implicit generalized momentum-based state space representation, which decouples a known linear actuation channel from state dependent…

This paper presents an active learning strategy for robotic systems that takes into account task information, enables fast learning, and allows control to be readily synthesized by taking advantage of the Koopman operator representation. We…

The modeling and simulation of high-dimensional multiscale systems is a critical challenge across all areas of science and engineering. It is broadly believed that even with today's computer advances resolving all spatiotemporal scales…

The Koopman operator has recently garnered much attention for its value in dynamical systems analysis and data-driven model discovery. However, its application has been hindered by the computational complexity of extended dynamic mode…

We study the problem of online tracking in unknown nonlinear dynamical systems, where only short-horizon predictions of future target states are available. This setting arises in practical scenarios where full future information and exact…

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…

We provide an algorithm for the simultaneous system identification and model predictive control of nonlinear systems. The algorithm has finite-time near-optimality guarantees and asymptotically converges to the optimal (non-causal)…

We consider the application of Koopman theory to nonlinear partial differential equations. We demonstrate that the observables chosen for constructing the Koopman operator are critical for enabling an accurate approximation to the nonlinear…

Probabilistic Time Series Forecasting (PTSF) plays a crucial role in decision-making across various fields, including economics, energy, and transportation. Most existing methods excell at short-term forecasting, while overlooking the…

Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subject to such fast motions, the complexity of cloth dynamics…

This paper presents a novel identification approach of Koopman models of nonlinear systems with inputs under rather general noise conditions. The method uses deep state-space encoders based on the concept of state reconstructability and an…

In many scenarios, it is necessary to monitor a complex system via a time-series of observations and determine when anomalous exogenous events have occurred so that relevant actions can be taken. Determining whether current observations are…

Variational autoencoders (VAE) are powerful generative models that learn the latent representations of input data as random variables. Recent studies show that VAE can flexibly learn the complex temporal dynamics of time series and achieve…

In theoretical ecology, models describing the spatial dispersal and the temporal evolution of species having non-overlapping generations are often based on integrodifference equations. For various such applications the environment has an…

Accurate dynamics modeling is essential for quadrotors to achieve precise trajectory tracking in various applications. Traditional physical knowledge-driven modeling methods face substantial limitations in unknown environments characterized…

Achieving rapid and time-deterministic stabilization for complex systems characterized by strong nonlinearities and parametric uncertainties presents a significant challenge. Traditional model-based control relies on precise system models,…

Nonlinear dynamical effects are crucial to the operation of many agile robotic systems. Koopman-based model learning methods can capture these nonlinear dynamical system effects in higher dimensional lifted bilinear models that are amenable…

Temporal distributional shifts, with underlying dynamics changing over time, frequently occur in real-world time series and pose a fundamental challenge for deep neural networks (DNNs). In this paper, we propose a novel deep sequence model…