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cs.RO2023
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition}
Brian E. Jackson, Jeong Hun Lee, Kevin Tracy +1
We present a data-efficient algorithm for learning models for model-predictive control (MPC). Our approach, Jacobian-Regularized Dynamic-Mode Decomposition (JDMD), offers improved…
cs.RO2023
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications
Jeong Hun Lee, Mike Y. Michelis, Robert Katzschmann +1
We present Aquarium, a differentiable fluid-structure interaction solver for robotics that offers stable simulation, accurately coupled fluid-robot physics in two dimensions, and f…