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

The Koopman framework proposes a linear representation of finite-dimensional nonlinear systems through a generally infinite-dimensional globally linear embedding. Originally, the Koopman formalism has been derived for autonomous systems. In…

In this paper, we propose a new model reduction technique for linear stochastic systems that builds upon knowledge filtering and utilizes optimal Kalman filtering techniques. This new technique will reduce the dimension of the noise…

Optimal control theory and machine learning techniques are combined to formulate and solve in closed form an optimal control formulation of online learning from supervised examples with regularization of the updates. The connections with…

As a key component to intuitive cognition and reasoning solutions in human intelligence, causal knowledge provides great potential for reinforcement learning (RL) agents' interpretability towards decision-making by helping reduce the…

Reinforcement learning (RL) post-training has become a trending paradigm for enhancing the capabilities of large language models (LLMs). Most existing RL systems for LLMs operate in a fully synchronous manner, where training must wait for…

Vehicle state estimation presents a fundamental challenge for autonomous driving systems, requiring both physical interpretability and the ability to capture complex nonlinear behaviors across diverse operating conditions. Traditional…

Backpropagation dominates modern machine learning, yet it is not the only principled method for optimizing dynamical systems. We propose Kalman World Models (KWM), a class of learned state-space models trained via recursive Bayesian…

Model-based reinforcement learning (RL) is anticipated to exhibit higher sample efficiency compared to model-free RL by utilizing a virtual environment model. However, it is challenging to obtain sufficiently accurate representations of the…

Offline reinforcement learning enables sample-efficient policy acquisition without risky online interaction, yet policies trained on static datasets remain brittle under action-space perturbations such as actuator faults. This study…

Koopman operator theory provides a global linear representation of nonlinear dynamics and underpins many data-driven methods. In practice, however, finite-dimensional feature spaces induced by a user-chosen dictionary are rarely invariant,…

In this paper, we propose a robust imitation learning (IL) framework that improves the robustness of IL when environment dynamics are perturbed. The existing IL framework trained in a single environment can catastrophically fail with…

In the development of model predictive controllers for PDE-constrained problems, the use of reduced order models is essential to enable real-time applicability. Besides local linearization approaches, Proper Orthogonal Decomposition (POD)…

We use Koopman theory for data-driven model reduction of nonlinear dynamical systems with controls. We propose generic model structures combining delay-coordinate encoding of measurements and full-state decoding to integrate reduced Koopman…

Koopman operator theory has emerged as a powerful tool for system identification, particularly for approximating nonlinear time-invariant systems (NTIS). This paper considers a network of agents with limited observation capabilities that…

Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-time inference, and stable execution, which remains challenging for existing generative policies. Diffusion-based approaches offer…

Reinforcement learning has been applied in operation research and has shown promise in solving large combinatorial optimization problems. However, existing works focus on developing neural network architectures for certain problems. These…

This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deformation and high-speed action) and strict task requirements…

Reinforcement learning has advanced video reasoning in large multi-modal models, yet dominant pipelines either rely on on-policy self-exploration, which plateaus at the model's knowledge boundary, or hybrid replay that mixes policies and…

Training a generalizable agent to continually learn a sequence of tasks from offline trajectories is a natural requirement for long-lived agents, yet remains a significant challenge for current offline reinforcement learning (RL)…

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,…