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

Linear reduced-order modeling (ROM) is widely used for efficient simulation of deformation dynamics, but its accuracy is often limited by the fixed linearization of the reduced mapping. We propose a new adaptive strategy for linear ROM that…

Reinforcement learning has been applied to a wide variety of robotics problems, but most of such applications involve collecting data from scratch for each new task. Since the amount of robot data we can collect for any single task is…

Koopman liftings have been successfully used to learn high dimensional linear approximations for autonomous systems for prediction purposes, or for control systems for leveraging linear control techniques to control nonlinear dynamics. In…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

Koopman spectral theory has provided a new perspective in the field of dynamical systems in recent years. Modern dynamical systems are becoming increasingly non-linear and complex, and there is a need for a framework to model these systems…

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…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing methods rely on interactive expert labeling, additional…

In this paper, we consider the design of data-driven predictive controllers for nonlinear systems from input-output data via linear-in-control input Koopman lifted models. Instead of identifying and simulating a Koopman model to predict…

In data-driven modelling of complex dynamic processes, it is often desirable to combine different classes of models to enhance performance. Examples include coupled models of different fidelities, or hybrid models based on physical…

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,…

Reinforcement Learning (RL) is notoriously data-inefficient, which makes training on a real robot difficult. While model-based RL algorithms (world models) improve data-efficiency to some extent, they still require hours or days of…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

When applying imitation learning techniques to fit a policy from expert demonstrations, one can take advantage of prior stability/robustness assumptions on the expert's policy and incorporate such control-theoretic prior knowledge…

Offline imitation learning enables learning a policy solely from a set of expert demonstrations, without any environment interaction. To alleviate the issue of distribution shift arising due to the small amount of expert data, recent works…

The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…

In this paper, we introduce a novel approach to centroidal state estimation, which plays a crucial role in predictive model-based control strategies for dynamic legged locomotion. Our approach uses the Koopman operator theory to transform…

Model-based offline optimization with dynamics-aware policy provides a new perspective for policy learning and out-of-distribution generalization, where the learned policy could adapt to different dynamics enumerated at the training stage.…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

Nonlinear Negative Imaginary (NI) systems arise in various engineering applications, such as controlling flexible structures and air vehicles. However, unlike linear NI systems, their theory is not well-developed. In this paper, we propose…