The paper submission of Mohamed Abou-Taleb and Maximilian Raff "Koopman Based Trajectory Optimization with Mixed Boundaries" has been accepted for presentation at the 2025 Annual Learning for Dynamics & Control Conference (L4DC).
The paper leverages the Koopman operator framework to tackle trajectory optimization with mixed boundary constraints. By reformulating the problem as a bilevel optimization, the high-dimensional lower-level problem is convexified, improving solution efficiency. The approach is demonstrated on a pendulum and a compass-gait walker.