80 citations · 167 across the 23 of their papers we have counts for
3 papers · 1 filter
Koopman-Based Neural Lyapunov Functions for General Attractors
Shankar A. Deka, Alonso M. Valle, Claire J. Tomlin
Koopman spectral theory has grown in the past decade as a powerful tool for dynamical systems analysis and control. In this paper, we show how recent data-driven techniques for est…
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason J. Choi, Ayush Agrawal, Koushil Sreenath +2
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation…
Inducing Structure in Reward Learning by Learning Features
Andreea Bobu, Marius Wiggert, Claire Tomlin +1
Reward learning enables robots to learn adaptable behaviors from human input. Traditional methods model the reward as a linear function of hand-crafted features, but that requires…