  Many machine learning approaches for decision making, such as reinforcement
learning, rely on simulators or predictive models to forecast the
time-evolution of quantities of interest, e.g., the state of an agent or the
reward of a policy. Forecasts of such complex phenomena are commonly described
by highly nonlinear dynamical systems, making their use in optimization-based
decision-making challenging. Koopman operator theory offers a beneficial
paradigm for addressing this problem by characterizing forecasts via linear
time-invariant (LTI) ODEs, turning multi-step forecasts into sparse matrix
multiplication. Though there exists a variety of learning approaches, they
usually lack crucial learning-theoretic guarantees, making the behavior of the
obtained models with increasing data and dimensionality unclear. We address the
aforementioned by deriving a universal Koopman-invariant reproducing kernel
Hilbert space (RKHS) that solely spans transformations into LTI dynamical
systems. The resulting Koopman Kernel Regression (KKR) framework enables the
use of statistical learning tools from function approximation for novel
convergence results and generalization error bounds under weaker assumptions
than existing work. Our experiments demonstrate superior forecasting
performance compared to Koopman operator and sequential data predictors in
RKHS.
