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05/25/2023
Koopman Kernel Regression
Many machine learning approaches for decision making, such as reinforcem...
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02/12/2023
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates
Multibody dynamics simulators are an important tool in many fields, incl...
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06/28/2022
Dext-Gen: Dexterous Grasping in Sparse Reward Environments with Full Orientation Control
Reinforcement learning is a promising method for robotic grasping as it ...
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01/27/2022
Towards Data-driven LQR with KoopmanizingFlows
We propose a novel framework for learning linear time-invariant (LTI) mo...
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12/10/2021
Structure-Preserving Learning Using Gaussian Processes and Variational Integrators
Gaussian process regression is often applied for learning unknown system...
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12/08/2021
KoopmanizingFlows: Diffeomorphically Learning Stable Koopman Operators
We propose a novel framework for constructing linear time-invariant (LTI...
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10/15/2021
Learning the Koopman Eigendecomposition: A Diffeomorphic Approach
We present a novel data-driven approach for learning linear representati...
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09/15/2021
Linear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational Integrators
Simulation of contact and friction dynamics is an important basis for co...
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07/30/2021