{"id":"https://openalex.org/W7155399976","doi":"https://doi.org/10.48550/arxiv.2604.19980","title":"Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems","display_name":"Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems","publication_year":2026,"publication_date":"2026-04-21","ids":{"openalex":"https://openalex.org/W7155399976","doi":"https://doi.org/10.48550/arxiv.2604.19980"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.19980","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.19980","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.19980","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030939982","display_name":"Wenjian Hao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hao, Wenjian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128227129","display_name":"Yuxuan Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Yuxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134450462","display_name":"Zehui Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Zehui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134365011","display_name":"Shaoshuai Mou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mou, Shaoshuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.38609999418258667,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.38609999418258667,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.2563999891281128,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.2558000087738037,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8295000195503235},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6536999940872192},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5435000061988831},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5340999960899353},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5084999799728394},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49630001187324524},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4530999958515167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4474000036716461}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8295000195503235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6597999930381775},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6536999940872192},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5435000061988831},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5340999960899353},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5084999799728394},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49630001187324524},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4530999958515167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4474000036716461},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.43860000371932983},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4366999864578247},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4253999888896942},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41690000891685486},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.3959999978542328},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.33390000462532043},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3325999975204468},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.28349998593330383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2709999978542328},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.26989999413490295},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26980000734329224},{"id":"https://openalex.org/C163175372","wikidata":"https://www.wikidata.org/wiki/Q3339222","display_name":"Linear model","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.19980","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.19980","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.19980","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.19980","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,72],"paper":[1],"presents":[2],"a":[3,44,106,112],"model-based":[4,131,140],"reinforcement":[5],"learning":[6],"(RL)":[7],"framework":[8,80,91],"for":[9,37],"optimal":[10],"closed-loop":[11,46],"control":[12,98,127,135],"of":[13,64],"nonlinear":[14,97],"robotic":[15,109],"systems.":[16],"The":[17,89],"proposed":[18,90],"approach":[19],"learns":[20],"linear":[21],"lifted":[22],"dynamics":[23,67],"through":[24],"Koopman":[25],"operator":[26],"theory":[27],"and":[28,52,100,111,134],"integrates":[29],"the":[30,41,65],"resulting":[31],"model":[32,54],"into":[33],"an":[34,75],"actor-critic":[35],"architecture":[36],"policy":[38,42,57,78,83],"optimization,":[39],"where":[40],"represents":[43],"parameterized":[45],"controller.":[47],"To":[48],"reduce":[49],"computational":[50],"cost":[51],"mitigate":[53],"rollout":[55],"errors,":[56],"gradients":[58],"are":[59],"estimated":[60],"using":[61],"one-step":[62],"predictions":[63],"learned":[66],"rather":[68],"than":[69],"multi-step":[70],"propagation.":[71],"leads":[73],"to":[74,130,138],"online":[76],"mini-batch":[77],"gradient":[79],"that":[81,142],"enables":[82],"improvement":[84],"from":[85],"streamed":[86],"interaction":[87],"data.":[88],"is":[92],"evaluated":[93],"on":[94,144],"several":[95],"simulated":[96],"benchmarks":[99],"two":[101],"real-world":[102],"hardware":[103],"platforms,":[104],"including":[105],"Kinova":[107],"Gen3":[108],"arm":[110],"Unitree":[113],"Go1":[114],"quadruped.":[115],"Experimental":[116],"results":[117],"demonstrate":[118],"improved":[119],"sample":[120],"efficiency":[121],"over":[122],"model-free":[123],"RL":[124,132],"baselines,":[125,133],"superior":[126],"performance":[128,136],"relative":[129],"comparable":[137],"classical":[139],"methods":[141],"rely":[143],"exact":[145],"system":[146],"dynamics.":[147]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-24T00:00:00"}
