3 papers
math.OC2026
Learning to control switching nonlinear systems with Koopman operator regression
Edoardo Caldarelli, Oleksii Kachaiev, Cesare Molinari +1
In this work, we consider the identification and control of nonlinear systems with finite action spaces. The unknown dynamics are estimated from finite samples with Koopman operato…
cs.RO2026
Dynamic robotic cloth folding with efficient Koopman operator-based model predictive control
Edoardo Caldarelli, Franco Coltraro, Adrià Colomé +2
Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subjec…
math.OC2024
Linear quadratic control of nonlinear systems with Koopman operator learning and the Nyström method
Edoardo Caldarelli, Antoine Chatalic, Adrià Colomé +4
In this paper, we study how the Koopman operator framework can be combined with kernel methods to effectively control nonlinear dynamical systems. While kernel methods have typical…