相关论文: A Koopman-Bayesian Framework for High-Fidelity, Pe…

This paper introduces a simulation preorder among lifted systems, a generalization of finite-dimensional Koopman approximations (also known as approximate immersions) to systems with inputs. It is proved that this simulation relation…

One of the goals of computer-aided surgery is to match intraoperative data to preoperative images of the anatomy and add complementary information that can facilitate the task of surgical navigation. In this context, mechanical palpation…

This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…

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…

Learning dexterous manipulation skills presents significant challenges due to complex nonlinear dynamics that underlie the interactions between objects and multi-fingered hands. Koopman operators have emerged as a robust method for modeling…

Discovering a suitable coordinate transformation for nonlinear systems enables the construction of simpler models, facilitating prediction, control, and optimization for complex nonlinear systems. To that end, Koopman operator theory offers…

Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…

Koopman operator theory is receiving increased attention due to its promise to linearize nonlinear dynamics. Neural networks that are developed to represent Koopman operators have shown great success thanks to their ability to approximate…

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…

It has become common to perform kinetic analysis using approximate Koopman operators that transforms high-dimensional time series of observables into ranked dynamical modes. Key to a practical success of the approach is the identification…

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…

This paper proposes a data-driven framework to learn a finite-dimensional approximation of a Koopman operator for approximating the state evolution of a dynamical system under noisy observations. To this end, our proposed solution has two…

Recently, Koopman operator theory has become a powerful tool for developing linear representations of non-linear dynamical systems. However, existing data-driven applications of Koopman operator theory, including both traditional and deep…

A number of recent studies have proposed that linear representations are appropriate for solving nonlinear dynamical systems with quantum computers, which fundamentally act linearly on a wave function in a Hilbert space. Linear…

In this paper, a unified batch-online learning approach is introduced to learn a linear representation of nonlinear system dynamics using the Koopman operator. The presented system modeling approach leverages a novel incremental…

Accurate segmentation and tracking of relevant elements of the surgical scene is crucial to enable context-aware intraoperative assistance and decision making. Current solutions remain tethered to domain-specific, supervised models that…

The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…

Effective medical simulators necessitate realistic haptic rendering of biological tissues that exhibit viscoelastic material properties, such as creep and stress relaxation. Fractional-order models provide an effective means of describing…

Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very…

In this paper we propose a new Koopman operator approach to the decomposition of nonlinear dynamical systems using Koopman Gramians. We introduce the notion of an input-Koopman operator, and show how input-Koopman operators can be used to…