May 24, 2026, cs.ROJ/K move · Enter open · S save
Lei Zheng, Peiqi Yu, Zengqi Peng, Changliu Liu+1
Department of Electrical and Computer Engineering, National University of Singapore, Singapore · Department of Electrical and Computer Engineering, Carnegie Mellon University, USA · Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology, Hong Kong SAR, China
Diffusion models excel at generating diverse, multimodal trajectories for robotic control, yet their iterative denoising process introduces latency that can constrain real-time closed-loop execution. To address this problem, we propose a Dynamic Neural Koopman (DNK) distillation framework, which distills multistep diffusion inference into a single forward pass conditioned on observations and sampled noise. Specifically, we introduce a Factorized Dynamic Koopman (FDK) layer that models the denoising process through a latent linear transition. The noisy trajectory input is lifted into a latent space, where the FDK layer parameterizes a factorized linear operator with condition-dependent eigenvalues that adapt the noisy-to-denoised transition to the current context. We evaluate DNK across robot-control benchmarks that span locomotion, state-based, and image-based manipulation, comparing against accelerated generative-policy baselines. The results demonstrate that DNK achieves competitive or improved closed-loop performance relative to accelerated generative-policy baselines, while substantially reducing inference latency relative to the strongest high-performing one-step baselines. On long-horizon manipulation tasks, DNK achieves competitive performance with substantially fewer inference parameters than the one-step policy baselines. Hardware experiments on a physical Kinova manipulator further demonstrate millisecond-scale inference and reduced task completion time. A project page is available at https://fdkoopman.github.io/.