mlsanityData to 14 Oct 2026

Latent Linear Quadratic Regulator for Robotic Control Tasks

arXiv 2407.11107 ↗First posted 15 Jul 2024cs.RO cs.LGcited by 1

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Abstract (arXiv)

Model predictive control (MPC) has played a more crucial role in various robotic control tasks, but its high computational requirements are concerning, especially for nonlinear dynamical models. This paper presents a latent linear quadratic regulator (LaLQR) that maps the state space into a latent space, on which the dynamical model is linear and the cost function is quadratic, allowing the efficient application of LQR. We jointly learn this alternative system by imitating the original MPC. Experiments show LaLQR's superior efficiency and generalization compared to other baselines.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Builds on 17 of its 41 references that are in the map. First posted on arXiv 15 Jul 2024.

Builds on

17 of 41 references.

References · 17

  1. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,061
  2. 2017Sim-to-Real Transfer of Robotic Control with Dynamics Randomizationcited by 672
  3. 2017Deep learning for universal linear embeddings of nonlinear dynamicscited by 494
  4. 2022Temporal Difference Learning for Model Predictive Controlcited by 397
  5. 2021Modern Koopman Theory for Dynamical Systemscited by 276
  6. 2015Embed to Control: A Locally Linear Latent Dynamics Model for Control from Raw Imagescited by 274
  7. 2016Linear predictors for nonlinear dynamical systems: Koopman operator meets model predictive controlcited by 140
  8. 2020Causal Discovery in Physical Systems from Videoscited by 77
  9. 2024Bridging State and History Representations: Understanding Self-Predictive RLcited by 54
  10. 2022Predictive Sampling: Real-time Behaviour Synthesis with MuJoCocited by 47
  11. 2022Perceptive Locomotion through Nonlinear Model Predictive Controlcited by 38
  12. 2019Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Controlcited by 23
5 more
  1. 2023Sample-Efficient Linear Representation Learning from Non-IID Non-Isotropic Datacited by 13
  2. 2020Learning High-Level Policies for Model Predictive Controlcited by 10
  3. 2023Efficient Dynamics Modeling in Interactive Environments with Koopman Theorycited by 10
  4. 2023Expressive Monotonic Neural Networkscited by 7
  5. 2014Localized LQR Optimal Controlcited by 1

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026Parametric Nonconvex Optimization via Convex Surrogatescited by 1