{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/data-efficient-model-learning-for-control","title":"Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition}","arxiv_id":"2212.07885","date":"2022-10-25","proceeding":null,"authors":["Brian E. Jackson","Jeong Hun Lee","Kevin Tracy","Zachary Manchester"],"abstract":"We present a data-efficient algorithm for learning models for model-predictive control (MPC). Our approach, Jacobian-Regularized Dynamic-Mode Decomposition (JDMD), offers improved sample efficiency over traditional Koopman approaches based on Dynamic-Mode Decomposition (DMD) by leveraging Jacobian information from an approximate prior model of the system, and improved tracking performance over traditional model-based MPC. We demonstrate JDMD's ability to quickly learn bilinear Koopman dynamics representations across several realistic examples in simulation, including a perching maneuver for a fixed-wing aircraft with an empirically derived high-fidelity physics model. In all cases, we show that the models learned by JDMD provide superior tracking and generalization performance within a model-predictive control framework, even in the presence of significant model mismatch, when compared to approximate prior models and models learned by standard Extended DMD (EDMD).","url_abs":"https://arxiv.org/abs/2212.07885v2","url_pdf":"https://arxiv.org/pdf/2212.07885v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"data-efficient-model-learning-for-control","repo_url":"https://github.com/bjack205/bilinearcontrol.jl","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}