Learning switched non-linear dynamical systems from a single trajectory

We study empirical risk minimization for learning non-linear dynamical systems whose transition dynamics may switch over time. Under stability assumptions, and i.i.d switching over a set of K modes, we derive non-asymptotic bounds on the prediction risk expressed in terms of the metric entropy of the underlying function class. We instantiate our general result for H"older and linear function classes, obtaining explicit convergence rates that depend on the effective sample size Tpi, where T is the trajectory length and pi is the probability of observing mode i. Numerical simulations support our theoretical findings. To the best of our knowledge, these results are the first non-asymptotic guarantees for learning switched nonlinear dynamical systems from a single trajectory.