Generalizable Optimal Control with Transformers: One Policy Across Diverse Systems

arXiv:2603.14910 · eess.SY, cs.RO, cs.SY · Submitted 2026-03-16 · Read on arXiv

eess.SY, cs.RO, cs.SY

Submitted: 2026-03-16

Updated: 2026-09-19

Comments: This work has been accepted for publication in the proceedings of the 2026 IEEE Conference on Decision and Control (CDC), Honolulu, Hawaii, USA

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Transformer — 62× in this paper · explained in 2 episodes
• Fine-Tuning — 8× in this paper · explained in 5 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Algebraic Riccati Equation — 3× in this paper
• Linear Quadratic Regulator — 3× in this paper
• System Identification — 3× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Linear Time-Invariant — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Embeddings — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes

Sources

• RAPTOR: A Foundation Policy for Quadrotor Control
• Gaussian Error Linear Units (GELUs)

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