Data-driven Koopman operators for model-based shared control of human–machine systems We present a data-driven shared control algorithm that can be used to improve a human operator's control of complex dynamic machines and achieve tasks that... A Broad,I Abraham,T Murphey,... - 《Internation...
Learning Compositional Koopman Operators for Model-Based ControlYunzhu LiHao HeJiajun WuDina KatabiAntonio TorralbaInternational Conference on Learning Representations
Learning Compositional Koopman Operators for Model-Based Control Yunzhu Li*, Hao He*, Jiajun Wu, Dina Katabi, Antonio Torralba (* indicates equal contributions) ICLR 2020 (Spotlight) [website] [openreview] [video] Demo Rope Manipulation In this task, we manipulate a rope by applying forces to...
i-abr / mpc-koopman Star 45 Code Issues Pull requests Model-based Control using Koopman Operators model-based-control koopman koopman-operators Updated Jun 13, 2020 Jupyter Notebook silvery107 / wheeled-bipedal-jumping Star 39 Code Issues Pull requests Height Control and Optimal Torque ...
Adaptive calibration of soft sensors using optimal transportation transfer learning for mass production and long-term usage. Adv. Intell. Syst. 2, 1900178 (2020). Article Google Scholar Abraham, I. & Murphey, T. D. Active learning of dynamics for data-driven control using koopman operators. ...
In particular, we extend the proposed rKMPC framework to a Koopman operator-based reduced-order model, thereby achieving the nonlinear control using only a few given inputs. Finally, several numerical examples and a physical experiment are provided to demonstrate the effectiveness of the proposed ...
Model-based versus model-free optimal tracking for soft robots: analytical and data-driven Koopman modeling, control design and experimental validationLINEAR operatorsOPERATOR theoryAIR pressureKALMAN filteringACTUATORSSoft robots, as a new type of robots, are highly flexible and deformable, which can ...