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cs.RO2026
Distributed Secure Learning Control for Large-scale Multirobots under Stealthy Actuator Attacks
Xinglong Zhang, Qingwen Ma, Cong Li +5
Distributed learning control for multirobot systems (MRS) offers significant flexibility in presence of uncertainties but lacks provable performance guarantees. A promising directi…
eess.SY2026
Physics-based Online Adaptive Koopman Model Predictive Attitude Control for Combined Spacecraft with Dynamic Uncertainties
Yicheng Sun, Yueyong Lyu, Yuhan Liu +2
This paper proposes a physics-based adaptive Koopman Model Predictive Control (MPC) strategy for combined spacecraft attitude stabilization under inertia uncertainties and active t…
cs.LG2026
Koopman Dreamer: Spectrally Constrained Latent Dynamics for Stable World-Model Imagination
Jiaqi Li, Xinglong Zhang, Haibin Xie +3
Latent world models improve sample efficiency in continuous control by optimizing policies over imagined latent trajectories, but common neural transitions offer limited direct con…