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eess.SY2025
Taming High-Dimensional Dynamics: Learning Optimal Projections onto Spectral Submanifolds
Hugo Buurmeijer, Luis A. Pabon, John Irvin Alora +3
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically…
cs.RO2025
Data-Driven Soft Robot Control via Adiabatic Spectral Submanifolds
Roshan S. Kaundinya, John Irvin Alora, Jonas G. Matt +3
The mechanical complexity of soft robots creates significant challenges for their model-based control. Specifically, linear data-driven models have struggled to control soft robots…