2022/09/13 by John Irvin Alora, Mattia Cenedese, Alora, John Irvin +7 · 1 citation
Computer Science · Physics and Astronomy · #Advanced Vision and Imaging #FOS: Computer and information sciences #Human Pose and Action Recognition #Model Reduction and Neural Networks #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2209.05712
openalex publication_date 2022/09/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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 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-a-vis the state of the art, including Koopman operator-based approaches.