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cs.RO2026
Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems
Wenjian Hao, Yuxuan Fang, Zehui Lu +1
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 dyn…
cs.RO2026
Accelerating Sampling-Based Control via Learned Linear Koopman Dynamics
Wenjian Hao, Yuxuan Fang, Zehui Lu +1
This paper presents an efficient model predictive path integral (MPPI) control framework for systems with complex nonlinear dynamics. To improve the computational efficiency of cla…