25 citations · 38 across the 14 of their papers we have counts for
4 papers · 1 filter
Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems
Wenjian Hao, Yuxuan Fang, Zehui Lu +1
This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dyn…
Accelerating Sampling-Based Control via Learned Linear Koopman Dynamics
Wenjian Hao, Yuxuan Fang, Zehui Lu +1
This paper presents an efficient model predictive path integral (MPPI) control framework for systems with complex nonlinear dynamics. To improve the computational efficiency of cla…
C3D: Cascade Control with Change Point Detection and Deep Koopman Learning for Autonomous Surface Vehicles
Jianwen Li, Hyunsang Park, Wenjian Hao +10
In this paper, we discuss the development and deployment of a robust autonomous system capable of performing various tasks in the maritime domain under unknown dynamic conditions.…
Cell A* for Navigation of Unmanned Aerial Vehicles in Partially-known Environments
Wenjian Hao, Rongyao Wang, Alexander Krolicki +1
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environme…