5 papers
Real-Time Disturbance-Aware Koopman Model Predictive Control for Quadrotors in Spatially Varying Winds
Stella Kombo, Masih Haseli, Alejandro A. Stefan-Zavala +3
Reliable quadrotor flight in disturbed environments requires predictive models that remain accurate as unmodeled aerodynamic effects change during deployment. We introduce a distur…
OATH: Object-Agnostic Tracking for Dexterous Hands, Enabling Rapid Physics-based Retargeting
Solvin Sigurdson, Prasanna Sriganesh, Juan Borbon +3
Retargeting human demonstrations into dynamically feasible dexterous hand trajectories requires resolving complex contact physics, yet current methods either omit physical constrai…
Control Forward-Backward Consistency: Quantifying the Accuracy of Koopman Control Family Models
Masih Haseli, Jorge Cortés, Joel W. Burdick
This paper extends the forward-backward consistency index, originally introduced in Koopman modeling of systems without input, to the setting of control systems, providing a closed…
Spectral Decomposition of Inverse Dynamics for Fast Exploration in Model-Based Manipulation
Solvin Sigurdson, Benjamin Riviere, Joel Burdick
Planning long duration robotic manipulation sequences is challenging because of the complexity of exploring feasible trajectories through nonlinear contact dynamics and many contac…
Real-Time Learning of Predictive Dynamic Obstacle Models for Robotic Motion Planning
Stella Kombo, Masih Haseli, Skylar X. Wei +1
Autonomous systems often must predict the motions of nearby agents from partial and noisy data. This paper asks and answers the question: "can we learn, in real-time, a nonlinear p…