Markovian Dynamics Enforcer: Feasibility Preserving Correction on Learned Dynamics Manifolds

Excerpt

arXiv:2609.39888v1 Announce Type: new Abstract: Neural trajectory predictors can reach low prediction error while violating dynamics, actuator limits, or state constraints, especially when controls are unobserved and dynamics are partially specified. We introduce the Markovian Dynamics Enforcer (MaDE), a time-invariant post-hoc operator mapping state-transition proposals onto a learned feasible dynamics manifold, trained on feasible states without ground-truth controls. For each transition it in