相关论文: A Generalist Dynamics Model for Control

Effective control requires knowledge of the process dynamics to guide the system toward desired states. In many control applications this knowledge is expressed mathematically or through data-driven models, however, as complexity grows…

Learning the dynamics of a physical system wherein an autonomous agent operates is an important task. Often these systems present apparent geometric structures. For instance, the trajectories of a robotic manipulator can be broken down into…

Foundation models have demonstrated remarkable generalization, data efficiency, and robustness properties across various domains. In this paper, we explore the feasibility of foundation models for applications in the control domain. The…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Diffusion models (DMs) excel in unconditional generation, as well as on applications such as image editing and restoration. The success of DMs lies in the iterative nature of diffusion: diffusion breaks down the complex process of mapping…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…

We study theoretical guarantees for solving linear systems in-context using a linear transformer architecture. For in-domain generalization, we provide neural scaling laws that bound the generalization error in terms of the number of tasks…

This paper addresses the problem of generating dynamically admissible trajectories for control tasks using diffusion models, particularly in scenarios where the environment is complex and system dynamics are crucial for practical…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…

Diffusion models are a class of generative models that serve to establish a stochastic transport map between an empirically observed, yet unknown, target distribution and a known prior. Despite their remarkable success in real-world…

Behavioral Foundation Models (BFMs) proved successful in producing policies for arbitrary tasks in a zero-shot manner, requiring no test-time training or task-specific fine-tuning. Among the most promising BFMs are the ones that estimate…

Diffusion models have shown remarkable performance on many generative tasks. Despite recent success, most diffusion models are restricted in that they only allow linear transformation of the data distribution. In contrast, broader family of…

World models can foresee the outcomes of different actions, which is of paramount importance for autonomous driving. Nevertheless, existing driving world models still have limitations in generalization to unseen environments, prediction…

The global approach to control systems which we have been pursuing in other work favours the study of dynamics achievable through control. It employs certain globally defined geometric objects and attempts to describe them in the general…

Studying structural properties of linear dynamical systems through invariant subspaces is one of the key contributions of the geometric approach to system theory. In general, a model of the dynamics is required in order to compute the…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

Over the past years several authors have used the approach of generalized modeling to study the dynamics of food chains and food webs. Generalized models come close to the efficiency of random matrix models, while being as directly…

Learning system dynamics from observations is a critical problem in many applications over various real-world complex systems, e.g., climate, ecology, and fluid systems. Recently, neural dynamics modeling method have become a prevalent…

In-context learning enables transformer models to generalize to new tasks based solely on input prompts, without any need for weight updates. However, existing training paradigms typically rely on large, unstructured datasets that are…