Koopman operator regression on physics-simulated cloth data yields a linear surrogate model that enables efficient model predictive control for accurate dynamic folding trajectories on unseen poses in both simulation and real-robot experiments.
¨Uber die praktische Aufl ¨osung von Integralgleichun- gen mit Anwendungen auf Randwertaufgaben,
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Dynamic robotic cloth folding with efficient Koopman operator-based model predictive control
Koopman operator regression on physics-simulated cloth data yields a linear surrogate model that enables efficient model predictive control for accurate dynamic folding trajectories on unseen poses in both simulation and real-robot experiments.