From the 1 of 3 linked papers with an AI index.
3 papers
cs.RO2026
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
Evelyn D'Elia, Weishu Zhan, Giulio Turrisi +5
The paper presents SKooP, a method that integrates morphological symmetries and a learned Koopman model via an autoencoder to provide privileged observations for reinforcement lear…
cs.RO2026
FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance
Qintong Xie, Weishu Zhan, Peter Chin
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware forma…
eess.SY2025
Safe Distributed Learning-Enhanced Predictive Control for Multiple Quadrupedal Robots
Weishu Zhan, Zheng Liang, Hongyu Song +1
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable f…