A novel identity connects reduced-model drift and diffusion to the conditional score of the finite-time transition density, turning calibration into a least-squares problem over stationary lagged pairs that preserves invariant statistics and dynamical correlations.
Reduced markovian models of dynamical systems.Physica D: Nonlinear Phenomena, 470:134393
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Develops and tests a model-based RL controller with post-training for gait in a tendon-driven soft quadruped, reporting improved efficiency and robustness over benchmarks.
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Conditional Score-Based Modeling of Effective Langevin Dynamics
A novel identity connects reduced-model drift and diffusion to the conditional score of the finite-time transition density, turning calibration into a least-squares problem over stationary lagged pairs that preserves invariant statistics and dynamical correlations.
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Optimal Gait Control for a Tendon-driven Soft Quadruped Robot by Model-based Reinforcement Learning
Develops and tests a model-based RL controller with post-training for gait in a tendon-driven soft quadruped, reporting improved efficiency and robustness over benchmarks.