相关论文: Robust Online Residual Refinement via Koopman-Guid…

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…

Koopman representations aim to learn features of nonlinear dynamical systems (NLDS) which lead to linear dynamics in the latent space. Theoretically, such features can be used to simplify many problems in modeling and control of NLDS. In…

Offline reinforcement learning (RL) presents a promising approach for learning reinforced policies from offline datasets without the need for costly or unsafe interactions with the environment. However, datasets collected by humans in…

In offline Imitation Learning (IL), one of the main challenges is the \textit{covariate shift} between the expert observations and the actual distribution encountered by the agent, because it is difficult to determine what action an agent…

Robust model predictive control (MPC) is a well-known control technique for model-based control with constraints and uncertainties. In classic robust tube-based MPC approaches, an open-loop control sequence is computed via periodically…

Offline reinforcement learning (RL) optimizes the policy on a previously collected dataset without any interactions with the environment, yet usually suffers from the distributional shift problem. To mitigate this issue, a typical solution…

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…

In real-world scenarios, the application of reinforcement learning is significantly challenged by complex non-stationarity. Most existing methods attempt to model changes in the environment explicitly, often requiring impractical prior…

Improving the performance of pre-trained policies through online reinforcement learning (RL) is a critical yet challenging topic. Existing online RL fine-tuning methods require continued training with offline pretrained Q-functions for…

Data-driven approximations of the Koopman operator are promising for predicting the time evolution of systems characterized by complex dynamics. Among these methods, the approach known as extended dynamic mode decomposition with dictionary…

We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of real-world uncertainties. Our approach leverages a model-based…

In this paper, we propose an efficient data-driven predictive control approach for general nonlinear processes based on a reduced-order Koopman operator. A Kalman-based sparse identification of nonlinear dynamics method is employed to…

The study of the Two-Body and Circular Restricted Three-Body Problems in the field of aerospace engineering and sciences is deeply important because they help describe the motion of both celestial and artificial satellites. With the growing…

Finding an embedding space for a linear approximation of a nonlinear dynamical system enables efficient system identification and control synthesis. The Koopman operator theory lays the foundation for identifying the nonlinear-to-linear…

Deep reinforcement learning (deep RL) excels in various domains but lacks generalizability and interpretability. On the other hand, programmatic RL methods (Trivedi et al., 2021; Liu et al., 2023) reformulate RL tasks as synthesizing…

Accurate modeling and control of autonomous vehicles remain a fundamental challenge due to the nonlinear and coupled nature of vehicle dynamics. While Koopman operator theory offers a framework for deploying powerful linear control…

Transfer and Koopman operator methods offer a framework for representing complex, nonlinear dynamical systems via linear transformations, enabling a deeper understanding of the underlying dynamics. The spectra of these operators provide…

Providing efficient and accurate parametrizations for model reduction is a key goal in many areas of science and technology. Here we present a strong link between data-driven and theoretical approaches to achieving this goal. Formal…

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…

Recently Koopman operator has become a promising data-driven tool to facilitate real-time control for unknown nonlinear systems. It maps nonlinear systems into equivalent linear systems in embedding space, ready for real-time linear control…