3 papers
math.OC2026
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…
cs.RO2026
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…
cs.RO2026
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…