相关论文: Robust Online Residual Refinement via Koopman-Guid…

Model-based offline Reinforcement Learning (RL) constructs environment models from offline datasets to perform conservative policy optimization. Existing approaches focus on learning state transitions through ensemble models, rollouting…

Koopman operators provide a linear framework for data-driven analyses of nonlinear dynamical systems, but their infinite-dimensional nature presents major computational challenges. In this article, we offer an introductory guide to Koopman…

Most modern reinforcement learning algorithms optimize a cumulative single-step cost along a trajectory. The optimized motions are often 'unnatural', representing, for example, behaviors with sudden accelerations that waste energy and lack…

Large-scale dynamic inverse problems are often ill-posed due to model complexity and the high dimensionality of the unknown parameters. Regularization is commonly employed to mitigate ill-posedness by incorporating prior information and…

We propose a fully data-driven, Koopman-based framework for statistically robust control of discrete-time nonlinear systems with linear embeddings. Establishing a connection between the Koopman operator and contraction theory, it offers…

Imitation learning (IL) aims to enable robots to perform tasks autonomously by observing a few human demonstrations. Recently, a variant of IL, called In-Context IL, utilized off-the-shelf large language models (LLMs) as instant policies…

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…

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…

Over the last few years, several works have proposed deep learning architectures to learn dynamical systems from observation data with no or little knowledge of the underlying physics. A line of work relies on learning representations where…

Koopman operator theory has found significant success in learning models of complex, real-world dynamical systems, enabling prediction and control. The greater interpretability and lower computational costs of these models, compared to…

Controlling nonlinear dynamical systems remains a central challenge in a wide range of applications, particularly when accurate first-principle models are unavailable. Data-driven approaches offer a promising alternative by designing…

Koopman-based modeling and model predictive control have been a promising alternative for optimal control of nonlinear processes. Good Koopman modeling performance significantly depends on an appropriate nonlinear mapping from the original…

Recent advancements in robot learning have used imitation learning with large models and extensive demonstrations to develop effective policies. However, these models are often limited by the quantity, quality, and diversity of…

The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…

Koopman analysis provides a general framework from which to analyze a nonlinear dynamical system in terms of a linear operator acting on an infinite-dimensional observable space. This theoretical framework provides a rigorous underpinning…

Analyzing the long-term behavior of high-dimensional nonlinear dynamical systems remains a significant challenge. While the Koopman operator framework provides a powerful global linearization tool, current methods for approximating its…

Offline reinforcement learning (RL) provides a promising direction to exploit massive amount of offline data for complex decision-making tasks. Due to the distribution shift issue, current offline RL algorithms are generally designed to be…

We propose a novel offline reinforcement learning (offline RL) approach, introducing the Diffusion-model-guided Implicit Q-learning with Adaptive Revaluation (DIAR) framework. We address two key challenges in offline RL: out-of-distribution…

Imitation Learning (IL) is an important paradigm within the broader reinforcement learning (RL) methodology. Unlike most of RL, it does not assume availability of reward-feedback. Reward inference and shaping are known to be difficult and…

This paper proposes an Online Control-Informed Learning (OCIL) framework, which employs the well-established optimal control and state estimation techniques in the field of control to solve a broad class of learning tasks in an online…