9 citations · 21 across the 10 of their papers we have counts for
10 papers
Koopman Identification of Nonlinear Systems via Reservoir Liftings
Weibin Gu, Chen Yang, Lu Shi
Learning tractable linear representations of nonlinear dynamical systems via Koopman operator theory is often hindered by dictionary selection, temporal memory encoding, and numeri…
A Koopman Operator-based NMPC Framework for Mobile Robot Navigation under Uncertainty
Xiaobin Zhang, Mohamed Karim Bouafoura, Lu Shi +1
Mobile robot navigation can be challenged by system uncertainty. For example, ground friction may vary abruptly causing slipping, and noisy sensor data can lead to inaccurate feedb…
Koopman Operators in Robot Learning
Lu Shi, Masih Haseli, Giorgos Mamakoukas +5
Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domai…
Waypoint-Based Imitation Learning for Robotic Manipulation
Lucy Xiaoyang Shi, Archit Sharma, Tony Z. Zhao +1
While imitation learning methods have seen a resurgent interest for robotic manipulation, the well-known problem of compounding errors continues to afflict behavioral cloning (BC).…
Koopman Operators for Modeling and Control of Soft Robotics
Lu Shi, Zhichao Liu, Konstantinos Karydis
Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findin…
Skill-based Model-based Reinforcement Learning
Lucy Xiaoyang Shi, Joseph J. Lim, Youngwoon Lee
Model-based reinforcement learning (RL) is a sample-efficient way of learning complex behaviors by leveraging a learned single-step dynamics model to plan actions in imagination. H…
Online Modeling and Control of Soft Multi-fingered Grippers via Koopman Operator Theory
Lu Shi, Caio Mucchiani, Konstantinos Karydis
Soft grippers are gaining momentum across applications due to their flexibility and dexterity. However, the infinite-dimensionality and non-linearity associated with soft robots ch…
ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-based Nonlinear Robotic Systems
Lu Shi, Konstantinos Karydis
Koopman operator theory has been gaining momentum for model extraction, planning, and control of data-driven robotic systems. The Koopman operator's ability to extract dynamics fro…
Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems
Lu Shi, Konstantinos Karydis
Koopman operator theory has served as the basis to extract dynamics for nonlinear system modeling and control across settings, including non-holonomic mobile robot control. There i…
A Data-driven Hierarchical Control Structure for Systems with Uncertainty
Lu Shi, Hanzhe Teng, Xinyue Kan +1
The paper introduces a Data-driven Hierarchical Control (DHC) structure to improve performance of systems operating under the effect of system and/or environment uncertainty. The p…