{"id":"https://openalex.org/W3204346297","doi":"https://doi.org/10.1109/iros51168.2021.9636408","title":"DeepKoCo: Efficient latent planning with a task-relevant Koopman representation","display_name":"DeepKoCo: Efficient latent planning with a task-relevant Koopman representation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3204346297","doi":"https://doi.org/10.1109/iros51168.2021.9636408","mag":"3204346297"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636408","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038492668","display_name":"Bas van der Heijden","orcid":"https://orcid.org/0009-0000-3448-1250"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Bas van der Heijden","raw_affiliation_strings":["Cognitive Robotics at the Faculty of 3mE, Delft University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics at the Faculty of 3mE, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029788290","display_name":"Laura Ferranti","orcid":"https://orcid.org/0000-0003-3856-6221"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Laura Ferranti","raw_affiliation_strings":["Cognitive Robotics at the Faculty of 3mE, Delft University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics at the Faculty of 3mE, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035229829","display_name":"Jens Kober","orcid":"https://orcid.org/0000-0001-7257-5434"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jens Kober","raw_affiliation_strings":["Cognitive Robotics at the Faculty of 3mE, Delft University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics at the Faculty of 3mE, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084264842","display_name":"Robert Babu\u0161ka","orcid":"https://orcid.org/0000-0001-9578-8598"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Robert Babuska","raw_affiliation_strings":["Cognitive Robotics at the Faculty of 3mE, Delft University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics at the Faculty of 3mE, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"183","last_page":"189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9265000224113464,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.8338623046875},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7692263722419739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.762995719909668},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6795501112937927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5620642900466919},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49285387992858887},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4665607810020447},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.46483373641967773},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3405006229877472},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08087131381034851}],"concepts":[{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.8338623046875},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7692263722419739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.762995719909668},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6795501112937927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5620642900466919},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49285387992858887},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4665607810020447},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.46483373641967773},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3405006229877472},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08087131381034851},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636408","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:cc306fd6-b16a-4756-b2ba-c2fb2de5290c","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:cc306fd6-b16a-4756-b2ba-c2fb2de5290c","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"id":"https://metadata.un.org/sdg/12","display_name":"Responsible consumption and production"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W834081922","https://openalex.org/W1522301498","https://openalex.org/W1561941139","https://openalex.org/W1591018827","https://openalex.org/W1987193149","https://openalex.org/W2123859855","https://openalex.org/W2172945660","https://openalex.org/W2213594914","https://openalex.org/W2561027863","https://openalex.org/W2777417212","https://openalex.org/W2900152462","https://openalex.org/W2911792890","https://openalex.org/W2963402509","https://openalex.org/W2963430173","https://openalex.org/W2963521487","https://openalex.org/W2963841358","https://openalex.org/W2964121744","https://openalex.org/W2964220198","https://openalex.org/W2965680175","https://openalex.org/W2968169371","https://openalex.org/W2980816402","https://openalex.org/W2996064936","https://openalex.org/W3009152446","https://openalex.org/W3036185205","https://openalex.org/W3098172061","https://openalex.org/W3099674394","https://openalex.org/W3118210634","https://openalex.org/W3125947392","https://openalex.org/W4288335419","https://openalex.org/W4289294484","https://openalex.org/W4297789121","https://openalex.org/W4299578674","https://openalex.org/W6623316541","https://openalex.org/W6631190155","https://openalex.org/W6740316558","https://openalex.org/W6740836278","https://openalex.org/W6745638589","https://openalex.org/W6750253780","https://openalex.org/W6756256016","https://openalex.org/W6763088550","https://openalex.org/W6769286903","https://openalex.org/W6779827379","https://openalex.org/W6788072495"],"related_works":["https://openalex.org/W2159052453","https://openalex.org/W3013693939","https://openalex.org/W2566616303","https://openalex.org/W3131327266","https://openalex.org/W4297051394","https://openalex.org/W2752972570","https://openalex.org/W2734887215","https://openalex.org/W2803255133","https://openalex.org/W2909431601","https://openalex.org/W4294770367"],"abstract_inverted_index":{"This":[0,16],"paper":[1],"presents":[2],"DeepKoCo,":[3],"a":[4,10,46,76],"novel":[5],"modelbased":[6],"agent":[7,99],"that":[8,51,58],"learns":[9,38],"latent":[11,56],"Koopman":[12],"representation":[13,17],"from":[14],"images.":[15],"allows":[18,52],"DeepKoCo":[19,37,53,74],"to":[20,34,42,54,93],"plan":[21],"efficiently":[22],"using":[23],"linear":[24,29],"control":[25,86],"methods,":[26],"such":[27],"as":[28,80],"model":[30],"predictive":[31],"control.":[32],"Compared":[33],"traditional":[35,81],"agents,":[36],"taskrelevant":[39],"dynamics,":[40,95],"thanks":[41],"the":[43,97],"use":[44],"of":[45],"tailored":[47],"lossy":[48],"autoencoder":[49],"network":[50],"learn":[55],"dynamics":[57],"reconstruct":[59],"and":[60],"predict":[61],"only":[62],"observed":[63,68],"costs,":[64],"rather":[65],"than":[66],"all":[67],"dynamics.":[69],"As":[70],"our":[71],"results":[72],"show,":[73],"achieves":[75],"similar":[77],"final":[78],"performance":[79],"model-free":[82],"methods":[83],"on":[84],"complex":[85],"tasks,":[87],"while":[88],"being":[89],"considerably":[90],"more":[91,100],"robust":[92],"distractor":[94],"making":[96],"proposed":[98],"amenable":[101],"for":[102],"real-life":[103],"applications.":[104]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
