koopman operator 1model predictive control 1real-time robotics 1sampling-based control 1trajectory optimization 1
From the 1 of 2 linked papers with an AI index.
2 papers
cs.RO2026
Accelerating Sampling-Based Control via Learned Linear Koopman Dynamics
Wenjian Hao, Yuxuan Fang, Zehui Lu +1
The paper proposes a model predictive path integral control method that replaces costly nonlinear dynamics with a learned linear deep Koopman operator, enabling faster trajectory s…
cs.RO2026
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…