2 papers
math.OC2026
Limitations of LTI Koopman Modeling for Nonlinear Control Systems
Johannes Heeg, Karl Worthmann
Koopman operator theory yields powerful tools for modeling, analysis, and control of nonlinear dynamical systems. Prominently, linear time-invariant (LTI) Koopman representations h…
cs.RO2026
Learning Quadrotor Control From Visual Features Using Differentiable Simulation
Johannes Heeg, Yunlong Song, Davide Scaramuzza
The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slow…