Koopman-Accelerated Model-Based Diffusion for Real-Time Robot Control

arXiv:2609.28920 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Project page: https://rcilab.khu.ac.kr/bkmbd

Terminology

• Aperture — 5× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Ablation — 2× in this paper · explained in 1 episode
• Core — 2× in this paper · explained in 2 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• Admissibility — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• Accelerating Sampling-Based Control via Learned Linear Koopman Dynamics

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