{"id":"https://openalex.org/W7163142679","doi":"https://doi.org/10.48550/arxiv.2606.02280","title":"Dynamics Are Learned, Not Told: Semi-Supervised Discovery of Latent Dynamics Geometries For Zero-Shot Policy Adaptation","display_name":"Dynamics Are Learned, Not Told: Semi-Supervised Discovery of Latent Dynamics Geometries For Zero-Shot Policy Adaptation","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7163142679","doi":"https://doi.org/10.48550/arxiv.2606.02280"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.02280","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.02280","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2606.02280","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137691638","display_name":"Zhiming Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Zhiming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137626476","display_name":"Weitao Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Weitao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084610102","display_name":"Xianghui Pan","orcid":"https://orcid.org/0009-0002-3044-1934"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Xianghui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013415505","display_name":"Nanshan Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Nanshan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137689631","display_name":"Chengju Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Chengju","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137631870","display_name":"Qijun Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Qijun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5011215159","display_name":"Chenpeng Yao","orcid":"https://orcid.org/0000-0002-6804-3539"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yao, Chenpeng","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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7498999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7498999834060669,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.05999999865889549,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.03880000114440918,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.6241999864578247},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6111000180244446},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5688999891281128},{"id":"https://openalex.org/keywords/lipschitz-continuity","display_name":"Lipschitz continuity","score":0.5322999954223633},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4810999929904938},{"id":"https://openalex.org/keywords/regret","display_name":"Regret","score":0.48089998960494995},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4578000009059906},{"id":"https://openalex.org/keywords/monotonic-function","display_name":"Monotonic function","score":0.3644999861717224}],"concepts":[{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.6241999864578247},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6111000180244446},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5688999891281128},{"id":"https://openalex.org/C22324862","wikidata":"https://www.wikidata.org/wiki/Q652707","display_name":"Lipschitz continuity","level":2,"score":0.5322999954223633},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5286999940872192},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4810999929904938},{"id":"https://openalex.org/C50817715","wikidata":"https://www.wikidata.org/wiki/Q79895177","display_name":"Regret","level":2,"score":0.48089998960494995},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4578000009059906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3659000098705292},{"id":"https://openalex.org/C72169020","wikidata":"https://www.wikidata.org/wiki/Q194404","display_name":"Monotonic function","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3555000126361847},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33660000562667847},{"id":"https://openalex.org/C126701199","wikidata":"https://www.wikidata.org/wiki/Q264224","display_name":"Complex dynamics","level":2,"score":0.32519999146461487},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.31130000948905945},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C121864883","wikidata":"https://www.wikidata.org/wiki/Q677916","display_name":"Statistical physics","level":1,"score":0.30329999327659607},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.26420000195503235}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.02280","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.02280","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2606.02280","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.02280","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Real-world":[0],"dynamics":[1,57,61,73,81,103,122,135],"shifts":[2],"pose":[3],"a":[4,37,40,90,101,115,159],"critical":[5],"challenge":[6],"for":[7,162],"reinforcement":[8],"learning":[9],"in":[10,89],"robotics,":[11],"as":[12],"policies":[13,70],"tightly":[14],"coupled":[15],"to":[16,78],"nominal":[17],"environments":[18],"often":[19],"fail":[20],"catastrophically":[21],"when":[22],"physical":[23,34],"conditions":[24],"change.":[25],"Most":[26],"existing":[27],"methods":[28],"rely":[29],"on":[30,45],"encoding":[31],"explicitly":[32],"identified":[33],"parameters":[35],"into":[36],"latent":[38,118,148,156],"context,":[39],"parameter-centric":[41,131],"paradigm":[42],"that":[43,154],"depends":[44],"pre-specified":[46],"axes":[47],"of":[48,100],"variation":[49],"and":[50,96,139,147],"becomes":[51],"brittle":[52],"under":[53,133],"unmodeled":[54,138],"or":[55],"compound":[56],"changes.":[58],"We":[59],"revisit":[60],"adaptation":[62],"from":[63],"an":[64],"outcome-centric":[65],"perspective:":[66],"rather":[67],"than":[68],"telling":[69],"what":[71],"the":[72,97],"are,":[74],"we":[75],"enable":[76],"them":[77],"learn":[79],"how":[80],"affect":[82],"interaction":[83],"outcomes.":[84],"Theoretically,":[85],"this":[86,106],"is":[87,158],"grounded":[88],"monotonic":[91],"relationship":[92],"between":[93],"target-domain":[94],"regret":[95],"Lipschitz":[98],"constant":[99,107],"trajectory":[102],"encoder.":[104],"Practically,":[105],"can":[108],"be":[109],"upper-bounded":[110],"through":[111],"contrastive":[112],"learning,":[113],"yielding":[114],"smooth,":[116],"task-relevant":[117],"topology":[119],"without":[120],"privileged":[121],"information.":[123],"On":[124],"MuJoCo":[125],"benchmarks,":[126],"our":[127],"method":[128],"consistently":[129],"outperforms":[130],"baselines":[132],"severe":[134],"shifts,":[136],"including":[137],"time-varying":[140],"parameters,":[141],"while":[142],"also":[143],"improving":[144],"in-distribution":[145],"stability":[146],"interpretability.":[149],"Overall,":[150],"these":[151],"results":[152],"validate":[153],"controlling":[155],"geometry":[157],"principled":[160],"mechanism":[161],"robust":[163],"adaptation.":[164]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-03T00:00:00"}