Preservation of Contact-Rich Behavior with Lifted Koopman Rollouts

Determine whether substituting a lifted Koopman model for the contact-containing rollout used by model-based diffusion preserves model-based diffusion’s behavior in contact-rich settings.

Background

The paper introduces bilinear Koopman model-based diffusion (BK-MBD), which replaces repeated plant-dynamics simulation with rollouts generated by a learned bilinear Koopman model. The reported experiments are exclusively contact-free and demonstrate real-time control for reaching, non-convex passage traversal, and physical tracking tasks.

The conclusion explicitly notes that model-based diffusion derives its behavior in contact-rich settings from a rollout that contains contact phenomena. A lifted model would need to represent those phenomena, but whether it can preserve the corresponding behavior remains unresolved and is deferred to future work.