Active Learning of Dynamics for Data-Driven Control Using Koopman Operators

12 June 2019

Papers citing "Active Learning of Dynamics for Data-Driven Control Using Koopman Operators"

50 / 54 papers shown

Title
Data-Driven Contact-Aware Control Method for Real-Time Deformable Tool Manipulation: A Case Study in the Environmental Swabbing Siavash Mahmoudi Amirreza Davar Dongyi Wang 46 0 0 27 Mar 2025
Shared Control with Black Box Agents using Oracle Queries Inbal Avraham Reuth Mirsky 31 0 0 24 Feb 2025
On the Surprising Effectiveness of Spectrum Clipping in Learning Stable Linear Dynamics Hanyao Guo Yunhai Han Harish Ravichandar 81 0 0 02 Dec 2024
Online Control-Informed Learning Zihao Liang Tianyu Zhou Zehui Lu Shaoshuai Mou 33 1 0 04 Oct 2024
Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator Steven Dahdah James Richard Forbes 35 1 0 01 Oct 2024
Koopman Operators in Robot Learning Lu Shi Masih Haseli Giorgos Mamakoukas Daniel Bruder Ian Abraham Todd D. Murphey Jorge Cortes Konstantinos Karydis AI4CE 25 7 0 08 Aug 2024
Safe and Efficient Estimation for Robotics through the Optimal Use of Resources Frederike Dumbgen OffRL 36 0 0 29 May 2024
Active Exploration for Real-Time Haptic Training Jake Ketchum A. Prabhakar Todd D. Murphey 28 2 0 20 May 2024
Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion Shahram Khorshidi Murad Dawood Maren Bennewitz 14 1 0 20 Mar 2024
Linear quadratic control of nonlinear systems with Koopman operator learning and the Nyström method Edoardo Caldarelli Antoine Chatalic Adrià Colomé C. Molinari C. Ocampo‐Martinez Carme Torras Lorenzo Rosasco 36 0 0 05 Mar 2024
Fast Ergodic Search with Kernel Functions Muchen Sun Ayush Gaggar Peter Trautman Todd Murphey 37 7 0 03 Mar 2024
PyDMD: A Python package for robust dynamic mode decomposition Sara M. Ichinaga Francesco Andreuzzi N. Demo M. Tezzele Karl Lapo G. Rozza Steven L. Brunton J. Nathan Kutz AI4CE 36 16 0 12 Feb 2024
Task-Oriented Active Learning of Model Preconditions for Inaccurate Dynamics Models A. LaGrassa Moonyoung Lee Oliver Kroemer 23 2 0 08 Jan 2024
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling Daniel Felipe Ordoñez Apraez Vladimir Kostic Giulio Turrisi P. Novelli Carlos Mastalli Claudio Semini Massimiliano Pontil 34 2 0 12 Dec 2023
Inferring Inference Rajkumar Vasudeva Raju Zhe Li Scott W. Linderman Xaq Pitkow 24 1 0 04 Oct 2023
Active Visual Localization for Multi-Agent Collaboration: A Data-Driven Approach Matthew Hanlon Boyang Sun Marc Pollefeys Hermann Blum 10 5 0 04 Oct 2023
Data-Driven Batch Localization and SLAM Using Koopman Linearization Zi Cong Guo Frederike Dumbgen James Richard Forbes T. Barfoot 45 3 0 08 Sep 2023
Data-Driven Optimal Control of Tethered Space Robot Deployment with Learning Based Koopman Operator Ao Jin Fan Zhang Panfeng Huang 25 3 0 15 Jul 2023
Learning Koopman Operators with Control Using Bi-level Optimization Daning Huang Abhinav Pandey Yin Yu Junyi Geng AI4CE 21 3 0 12 Jul 2023
PyKoopman: A Python Package for Data-Driven Approximation of the Koopman Operator Shaowu Pan E. Kaiser Brian M. de Silva J. Nathan Kutz Steven L. Brunton 19 8 0 22 Jun 2023
Adaptive Robotic Information Gathering via Non-Stationary Gaussian Processes Weizhe (Wesley) Chen R. Khardon Lantao Liu 26 9 0 02 Jun 2023
Closed-Loop Koopman Operator Approximation Steven Dahdah James Richard Forbes 18 2 0 27 Mar 2023
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills Yunhai Han Mandy Xie Ye Zhao Harish Ravichandar 32 17 0 23 Mar 2023
Auxiliary Functions as Koopman Observables: Data-Driven Analysis of Dynamical Systems via Polynomial Optimization J. Bramburger Giovanni Fantuzzi 19 10 0 02 Mar 2023
Koopman neural operator as a mesh-free solver of non-linear partial differential equations Wei Xiong Xiaomeng Huang Ziyang Zhang Ruixuan Deng Pei Sun Yang Tian AI4CE 17 31 0 24 Jan 2023
Koopman Operators for Modeling and Control of Soft Robotics Lu Shi Zhichao Liu Konstantinos Karydis 18 19 0 23 Jan 2023
KoopmanLab: machine learning for solving complex physics equations Wei Xiong Muyuan Ma Xiaomeng Huang Ziyang Zhang Pei Sun Yang Tian AI4CE 26 13 0 03 Jan 2023
Online Real-time Learning of Dynamical Systems from Noisy Streaming Data: A Koopman Operator Approach S. Sinha S. Nandanoori D. Barajas-Solano 13 4 0 10 Dec 2022
Online Estimation of the Koopman Operator Using Fourier Features Tahiya Salam Alice K. Li M. Hsieh 13 6 0 03 Dec 2022
Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control Alessandro Saviolo Jonathan Frey Abhishek Rathod Moritz Diehl Giuseppe Loianno 60 25 0 23 Oct 2022
Deep Koopman with Control: Spectral Analysis of Soft Robot Dynamics N. Komeno B. Michael Katharina Küchler Edgar Anarossi Takamitsu Matsubara 19 8 0 14 Oct 2022
Cooperative Tuning of Multi-Agent Optimal Control Systems Zehui Lu Wanxin Jin Shaoshuai Mou B.D.O. Anderson 21 9 0 24 Sep 2022
Global, Unified Representation of Heterogenous Robot Dynamics Using Composition Operators: A Koopman Direct Encoding Method Harry Asada 11 9 0 30 Jul 2022
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings Adam J. Thorpe T. Lew Meeko Oishi Marco Pavone 25 21 0 08 Feb 2022
Neural Koopman Lyapunov Control Vrushabh Zinage E. Bakolas 22 28 0 13 Jan 2022
ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-based Nonlinear Robotic Systems Lu Shi Konstantinos Karydis 16 25 0 24 Nov 2021
System Norm Regularization Methods for Koopman Operator Approximation Steven Dahdah James Richard Forbes 11 11 0 18 Oct 2021
Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems Zixiang Guo Vassili Korotkine James Richard Forbes T. Barfoot 26 11 0 14 Sep 2021
Learning and Leveraging Features in Flow-Like Environments to Improve Situational Awareness Tahiya Salam Victoria Edwards M. A. Hsieh 11 7 0 13 Sep 2021
A purely data-driven framework for prediction, optimization, and control of networked processes: application to networked SIS epidemic model A. Tavasoli T. Henry Heman Shakeri 34 3 0 01 Aug 2021
Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators Filippos E. Sotiropoulos M. I. H. Harry Asada AI4CE 13 15 0 09 Jul 2021
Koopman Spectrum Nonlinear Regulators and Efficient Online Learning Motoya Ohnishi Isao Ishikawa Kendall Lowrey Masahiro Ikeda Sham Kakade Yoshinobu Kawahara 21 5 0 30 Jun 2021
Active Learning in Robotics: A Review of Control Principles Annalisa T. Taylor Thomas A. Berrueta Todd D. Murphey 27 70 0 25 Jun 2021
Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation Nicholas Stearns S. M. I. H. Harry Asada 29 13 0 05 Apr 2021
Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems Lu Shi Konstantinos Karydis 15 11 0 01 Mar 2021
Linear Matrix Inequality Approaches to Koopman Operator Approximation Steven Dahdah James Richard Forbes 9 6 0 06 Feb 2021
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics Daniel Bruder Xun Fu Ram Vasudevan 12 81 0 20 Oct 2020
Active Improvement of Control Policies with Bayesian Gaussian Mixture Model Hakan Girgin Emmanuel Pignat Noémie Jaquier Sylvain Calinon 9 7 0 06 Aug 2020
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems Alexander Broad Ian Abraham Todd D. Murphey B. Argall 6 36 0 12 Jun 2020
Hybrid Control for Learning Motor Skills Ian Abraham Alexander Broad Allison Pinosky B. Argall Todd D. Murphey 6 1 0 05 Jun 2020