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cs.RO2026
Scaling Law of Neural Koopman Operators
Abulikemu Abuduweili, Yuyang Pang, Feihan Li +1
Data-driven neural Koopman operator theory has emerged as a powerful tool for linearizing and controlling nonlinear robotic systems. However, the performance of these data-driven m…
cs.RO2025
SPARK: Safe Protective and Assistive Robot Kit
Yifan Sun, Rui Chen, Kai S. Yun +6
This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation. Humanoid robo…
cs.RO2024
Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots
Feihan Li, Abulikemu Abuduweili, Yifan Sun +3
The control of legged robots, particularly humanoid and quadruped robots, presents significant challenges due to their high-dimensional and nonlinear dynamics. While linear systems…