6 papers
Covariance-Regulated Recursive Koopman Learning for Nonlinear Systems with Uncertain Time-Varying Dynamics
Weibin Gu, Chen Yang, Lu Shi +1
Offline models for autonomous robots often fail under time-varying dynamics outside their training distribution. Koopman operator theory offers a linear representation of nonlinear…
Neuromorphic Control of a Flapping-Wing Robot on Resource-Constrained Hardware
Rim El Filali, Chenrui Feng, Chao Gao +1
Flapping-Wing Micro Aerial Vehicles (FWMAVs) provide exceptional maneuverability and aerodynamic efficiency but pose significant challenges for onboard control due to nonlinear dyn…
Koopman Identification of Nonlinear Systems via Reservoir Liftings
Weibin Gu, Chen Yang, Lu Shi
Learning tractable linear representations of nonlinear dynamical systems via Koopman operator theory is often hindered by dictionary selection, temporal memory encoding, and numeri…
A 26-Gram Tailless Butterfly-Inspired Flapping-Wing Robot with Onboard Attitude Control
Weibin Gu, Chenrui Feng, Lian Liu +7
Butterfly-inspired flapping-wing robots use broad compliant wings and low-frequency actuation, but pronounced wingbeat-synchronous body dynamics and time-varying inertia complicate…
DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments
Yufei Jia, Guangyu Wang, Yuhang Dong +17
We present the first unified, modular, open-source 3DGS-based simulation framework for Real2Sim2Real robot learning. It features a holistic Real2Sim pipeline that synthesizes hyper…
An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation
Lu Shi, Yuxuan Xu, Shiyu Wang +6
The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real…