├── .gitignore ├── FrankaLDS ├── README.md ├── controlExperiments │ ├── Franka_Fig8_exp.mat │ └── plotTrackingPerformance.m ├── learningLDS │ ├── Functions │ │ ├── Koop_K.m │ │ ├── Psi_x.m │ │ └── settings.m │ ├── ModelTraining_Franka.m │ ├── mainExecution.m │ ├── plotTrainingData.m │ └── results │ │ ├── RandomizedData_CG_Franka.mat │ │ ├── RandomizedData_LS_Franka.mat │ │ ├── RandomizedData_SUB_Franka.mat │ │ ├── RandomizedData_WLS_Franka.mat │ │ ├── SerialData_CG_Franka.mat │ │ ├── SerialData_LS_Franka.mat │ │ ├── SerialData_SUB_Franka.mat │ │ └── SerialData_WLS_Franka.mat └── simulationControl │ ├── LQR_gains.mat │ ├── MonteCarlo_Franka.ipynb │ ├── franka_description │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── finger.stl │ │ │ ├── hand.obj │ │ │ ├── hand.stl │ │ │ ├── link0.obj │ │ │ ├── link0.stl │ │ │ ├── link1.obj │ │ │ ├── link1.stl │ │ │ ├── link2.obj │ │ │ ├── link2.stl │ │ │ ├── link3.obj │ │ │ ├── link3.stl │ │ │ ├── link4.obj │ │ │ ├── link4.stl │ │ │ ├── link5.obj │ │ │ ├── link5.stl │ │ │ ├── link6.obj │ │ │ ├── link6.stl │ │ │ ├── link7.obj │ │ │ ├── link7.stl │ │ │ ├── stltoobj.bat │ │ │ └── stltoobj.mlx │ │ └── visual │ │ │ ├── daetoobj.bat │ │ │ ├── daetoobj.mlx │ │ │ ├── finger.dae │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.dae │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link0.dae │ │ │ ├── link0.mtl │ │ │ ├── link0.obj │ │ │ ├── link1.dae │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.dae │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.dae │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.dae │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.dae │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.dae │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ ├── link7.dae │ │ │ ├── link7.mtl │ │ │ └── link7.obj │ └── robots │ │ └── franka_panda.urdf │ ├── franka_env.py │ ├── generateLQRgains.m │ └── results │ ├── RandomizedData_CG_Franka.mat │ ├── RandomizedData_LS_Franka.mat │ ├── RandomizedData_SUB_Franka.mat │ ├── RandomizedData_WLS_Franka.mat │ ├── SerialData_CG_Franka.mat │ ├── SerialData_LS_Franka.mat │ ├── SerialData_SUB_Franka.mat │ └── SerialData_WLS_Franka.mat ├── LICENSE ├── README.md ├── TrainDynamicTexture.m ├── algorithms ├── learnCGModel.m ├── learnSOCmodel.m ├── learnSOCmodel_withControl.m └── learnWLSmodel.m ├── animations ├── README.md ├── animateSteam.m ├── steam.mat └── steamLDS.mat ├── data ├── DynTex_IDs.txt ├── DynamicTexture │ ├── dyntex │ │ ├── Errors_and_Times_dim_10.mat │ │ ├── Errors_and_Times_dim_11.mat │ │ ├── Errors_and_Times_dim_12.mat │ │ ├── Errors_and_Times_dim_13.mat │ │ ├── Errors_and_Times_dim_14.mat │ │ ├── Errors_and_Times_dim_15.mat │ │ ├── Errors_and_Times_dim_16.mat │ │ ├── Errors_and_Times_dim_17.mat │ │ ├── Errors_and_Times_dim_18.mat │ │ ├── Errors_and_Times_dim_19.mat │ │ ├── Errors_and_Times_dim_20.mat │ │ ├── Errors_and_Times_dim_21.mat │ │ ├── Errors_and_Times_dim_22.mat │ │ ├── Errors_and_Times_dim_23.mat │ │ ├── Errors_and_Times_dim_24.mat │ │ ├── Errors_and_Times_dim_25.mat │ │ ├── Errors_and_Times_dim_26.mat │ │ ├── Errors_and_Times_dim_27.mat │ │ ├── Errors_and_Times_dim_28.mat │ │ ├── Errors_and_Times_dim_29.mat │ │ ├── Errors_and_Times_dim_3.mat │ │ ├── Errors_and_Times_dim_30.mat │ │ ├── Errors_and_Times_dim_4.mat │ │ ├── Errors_and_Times_dim_5.mat │ │ ├── Errors_and_Times_dim_6.mat │ │ ├── Errors_and_Times_dim_7.mat │ │ ├── Errors_and_Times_dim_8.mat │ │ └── Errors_and_Times_dim_9.mat │ ├── ucla │ │ ├── Errors_and_Times_dim_10.mat │ │ ├── Errors_and_Times_dim_11.mat │ │ ├── Errors_and_Times_dim_12.mat │ │ ├── Errors_and_Times_dim_13.mat │ │ ├── Errors_and_Times_dim_14.mat │ │ ├── Errors_and_Times_dim_15.mat │ │ ├── Errors_and_Times_dim_16.mat │ │ ├── Errors_and_Times_dim_17.mat │ │ ├── Errors_and_Times_dim_18.mat │ │ ├── Errors_and_Times_dim_19.mat │ │ ├── Errors_and_Times_dim_20.mat │ │ ├── Errors_and_Times_dim_21.mat │ │ ├── Errors_and_Times_dim_22.mat │ │ ├── Errors_and_Times_dim_23.mat │ │ ├── Errors_and_Times_dim_24.mat │ │ ├── Errors_and_Times_dim_25.mat │ │ ├── Errors_and_Times_dim_26.mat │ │ ├── Errors_and_Times_dim_27.mat │ │ ├── Errors_and_Times_dim_28.mat │ │ ├── Errors_and_Times_dim_29.mat │ │ ├── Errors_and_Times_dim_3.mat │ │ ├── Errors_and_Times_dim_30.mat │ │ ├── Errors_and_Times_dim_4.mat │ │ ├── Errors_and_Times_dim_5.mat │ │ ├── Errors_and_Times_dim_6.mat │ │ ├── Errors_and_Times_dim_7.mat │ │ ├── Errors_and_Times_dim_8.mat │ │ └── Errors_and_Times_dim_9.mat │ └── ucsd │ │ ├── Errors_and_Times_dim_10.mat │ │ ├── Errors_and_Times_dim_11.mat │ │ ├── Errors_and_Times_dim_12.mat │ │ ├── Errors_and_Times_dim_13.mat │ │ ├── Errors_and_Times_dim_14.mat │ │ ├── Errors_and_Times_dim_15.mat │ │ ├── Errors_and_Times_dim_16.mat │ │ ├── Errors_and_Times_dim_17.mat │ │ ├── Errors_and_Times_dim_18.mat │ │ ├── Errors_and_Times_dim_19.mat │ │ ├── Errors_and_Times_dim_20.mat │ │ ├── Errors_and_Times_dim_21.mat │ │ ├── Errors_and_Times_dim_22.mat │ │ ├── Errors_and_Times_dim_23.mat │ │ ├── Errors_and_Times_dim_24.mat │ │ ├── Errors_and_Times_dim_25.mat │ │ ├── Errors_and_Times_dim_26.mat │ │ ├── Errors_and_Times_dim_27.mat │ │ ├── Errors_and_Times_dim_28.mat │ │ ├── Errors_and_Times_dim_29.mat │ │ ├── Errors_and_Times_dim_3.mat │ │ ├── Errors_and_Times_dim_30.mat │ │ ├── Errors_and_Times_dim_4.mat │ │ ├── Errors_and_Times_dim_5.mat │ │ ├── Errors_and_Times_dim_6.mat │ │ ├── Errors_and_Times_dim_7.mat │ │ ├── Errors_and_Times_dim_8.mat │ │ └── Errors_and_Times_dim_9.mat ├── Franka_ControlExperiments.mat ├── Franka_TrainingData.mat ├── MemoryDemands │ └── coffee_cup │ │ ├── Memory_dim_10.mat │ │ ├── Memory_dim_100.mat │ │ ├── Memory_dim_150.mat │ │ ├── Memory_dim_20.mat │ │ ├── Memory_dim_200.mat │ │ ├── Memory_dim_250.mat │ │ ├── Memory_dim_300.mat │ │ ├── Memory_dim_40.mat │ │ ├── Memory_dim_60.mat │ │ └── Memory_dim_80.mat ├── README.md └── get_dyntex.sh ├── plotting ├── ControlExperiments │ ├── 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