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cs.RO2026
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…
cs.RO2026
MUSE: Multimodal Uncertainty Quantification of State Estimation
Minkyung Kim, Henry Che, Bhargav Chandaka +6
Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advan…
cs.RO2024
DiffTune: Auto-Tuning through Auto-Differentiation
Sheng Cheng, Minkyung Kim, Lin Song +4
The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and…