Closed-loop control of nonlinear dynamical systems with partial-state observability demands expert knowledge of a diverse, less standardized set of theoretical tools. Moreover, it requires a delicate integration of controller and estimator designs to achieve the desired system behavior. To establish a general controller synthesis framework, we explore the Decision Transformer (DT) architecture. Specifically, we first frame the control task as predicting the current optimal action based on past observations, actions, and rewards, eliminating the need for a separate estimator design. Then, we leverage the pre-trained language models, i.e., the Generative Pre-trained Transformer (GPT) series, to initialize DT and subsequently train it for control tasks using low-rank adaptation (LoRA). Our comprehensive experiments across five distinct control tasks, ranging from maneuvering aerospace systems to controlling partial differential equations (PDEs), demonstrate DT's capability to capture the parameter-agnostic structures intrinsic to control tasks. DT exhibits remarkable zero-shot generalization abilities for completely new tasks and rapidly surpasses expert performance levels with a minimal amount of demonstration data. These findings highlight the potential of DT as a foundational controller for general control applications.

利用预训练的语言模型，探索决策变压器（DT）架构作为一种通用的控制器综合框架，同时展示了DT在各种控制任务上的能力，包括对非线性动力系统和部分微分方程进行控制，并具备出色的零样本泛化能力。

决策变压器作为部分可观测连续控制的基础模型