Decision Transformer as a Foundation Model for Partially Observable Continuous Control

arXiv:2404.02407v1 Announce Type: cross
Abstract: Closed-loop control of nonlinear dynamical systems with partial-state observability demands expert knowledge of a diverse, less standardized set of theoretical tools. Moreover, it requires a delicate integration of controller and estimator designs to achieve the desired system behavior. To establish a general controller synthesis framework, we explore the Decision Transformer (DT) architecture. Specifically, we first frame the control task as predicting the current optimal action based on past observations, actions, and rewards, eliminating the need …

abstract arxiv behavior continuous control cs.ai cs.lg cs.ro cs.sy decision designs diverse eess.sy estimator expert foundation foundation model general integration knowledge loop observability observable set state synthesis systems tools transformer type