相关论文: RoboKoop: Efficient Control Conditioned Representa…

Finding an embedding space for a linear approximation of a nonlinear dynamical system enables efficient system identification and control synthesis. The Koopman operator theory lays the foundation for identifying the nonlinear-to-linear…

Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domains. Due to its ability to represent nonlinear dynamics as a…

We present task-oriented Koopman-based control that utilizes end-to-end reinforcement learning and contrastive encoder to simultaneously learn the Koopman latent embedding, operator, and associated linear controller within an iterative…

Representing and predicting high-dimensional and spatiotemporally chaotic dynamical systems remains a fundamental challenge in dynamical systems and machine learning. Although data-driven models can achieve accurate short-term forecasts,…

Learning dexterous manipulation skills presents significant challenges due to complex nonlinear dynamics that underlie the interactions between objects and multi-fingered hands. Koopman operators have emerged as a robust method for modeling…

Soft robots are challenging to model and control as inherent non-linearities (e.g., elasticity and deformation), often requires complex explicit physics-based analytical modeling (e.g., a priori geometric definitions). While machine…

This paper investigates the generalisability of Koopman-based representations for chaotic dynamical systems, focusing on their transferability across prediction and control tasks. Using the Lorenz system as a testbed, we propose a…

This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopman operator theory and integrates the…

We consider the training process of a neural network as a dynamical system acting on the high-dimensional weight space. Each epoch is an application of the map induced by the optimization algorithm and the loss function. Using this induced…

Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is likely due to practical limitations, such as significant…

Recently, Koopman operator theory has become a powerful tool for developing linear representations of non-linear dynamical systems. However, existing data-driven applications of Koopman operator theory, including both traditional and deep…

The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through…

Offline reinforcement learning leverages large datasets to train policies without interactions with the environment. The learned policies may then be deployed in real-world settings where interactions are costly or dangerous. Current…

Koopman operator theory, a powerful framework for discovering the underlying dynamics of nonlinear dynamical systems, was recently shown to be intimately connected with neural network training. In this work, we take the first steps in…

Nonlinear differential equations are encountered as models of fluid flow, spiking neurons, and many other systems of interest in the real world. Common features of these systems are that their behaviors are difficult to describe exactly and…

Deep learning is revolutionizing weather forecasting, with new data-driven models achieving accuracy on par with operational physical models for medium-term predictions. However, these models often lack interpretability, making their…

This paper presents a study of the Koopman operator theory and its application to optimal control of a multi-robot system. The Koopman operator, while operating on a set of observation functions of the state vector of a nonlinear system,…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

Reinforcement learning (RL) models have shown the capability of learning complex behaviors, but quantitatively assessing those behaviors - which is critical for safety assurance and the discovery of novel strategies - is challenging. By…

The accurate modeling of dynamics in interactive environments is critical for successful long-range prediction. Such a capability could advance Reinforcement Learning (RL) and Planning algorithms, but achieving it is challenging.…