This document provides a detailed explanation of the MATLAB code that demonstrates the application of the Koopman operator theory for controlling a nonlinear system using Model Predictive Control (MPC ...

Abstract: This paper presents a model predictive control (MPC) with recursive feasibility guarantees for robots with LiDAR sensory measurements. Control barrier functions (CBF) are incorporated within ...

2025-01-22: LOKI is accepted to ICLR 2025. 2024-11: The source code and Datasets are released. Our evaluation framework supports over 20+ mainstream foundation models. Please see here for full model ...