Online Learning and Control of Complex Dynamical Systems from Sensory Input - Supplementary Material

The only learnable parameters (117,963 in all) in our model are those of the autoencoder. The decoder is a symmetric copy of the encoder. Models without updates take 2.5 hours to train on a Tesla V100-SXM2 GPU, and models with updates Measurements (i.e, images) are taken every Our model does not exhibit such limitations. Figure 3 shows how the baseline model is unable to predict future frames correctly, for even a single step in the future (first frame of the left block), when it is trained on a dataset with multiple pendulums. In the case of this simple system, our model without updates is enough. 2 Figure 2: The first row shows ground truth (GT) images.