Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots
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Date
2023Type
- Conference Paper
ETH Bibliography
yes
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Abstract
Modeling and control of high-dimensional, nonlinear robotic systems remains a challenging task. While various model- and learning-based approaches have been proposed to address these challenges, they broadly lack generalizability to different control tasks and rarely preserve the structure of the dynamics. In this work, we propose a new, data-driven approach for extracting control-oriented, low-dimensional models from data using Spectral Submanifold Reduction (SSMR). In contrast to other data-driven methods which fit dynamical models to training trajectories, we identify the dynamics on generic, low-dimensional attractors embedded in the full phase space of the robotic system. This allows us to obtain computationally-tractable models for control which preserve the system's dominant dynamics and better track trajectories radically different from the training data. We demonstrate the superior performance and generalizability of SSMR in dynamic trajectory tracking tasks vis-á-vis the state of the art, including Koopman operator-based approaches. Show more
Publication status
publishedExternal links
Book title
2023 IEEE International Conference on Robotics and Automation (ICRA)Pages / Article No.
Publisher
IEEEEvent
Organisational unit
03973 - Haller, George / Haller, George
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ETH Bibliography
yes
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