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W. Hao, Y. Fang, and S. Mou are with the School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN 47907, USA. (Email: {hao93, fang394, mous}@purdue.edu
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Ditch slow nonlinear dynamics for control: a learned linear Koopman operator speeds up MPPI while maintaining performance.
