Koopman-learned linear dynamics enable an online actor-critic RL method that improves sample efficiency and closed-loop performance on nonlinear robotic systems compared with model-free and other model-based baselines.
Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control
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Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems
Koopman-learned linear dynamics enable an online actor-critic RL method that improves sample efficiency and closed-loop performance on nonlinear robotic systems compared with model-free and other model-based baselines.