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cs.RO2026
Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
Junheng Li, Liang Wu, Sergio A. Esteban +3
In humanoid motion control, model predictive control (MPC) offers physically grounded prediction and constraint handling, while reinforcement learning (RL) enables robust whole-bod…
eess.SY2026
Koopman-Based Linear MPC for Safe Control using Control Barrier Functions
Shuo Liu, Liang Wu, Dawei Zhang +2
This paper proposes a Koopman-based linear model predictive control (LMPC) framework for safety-critical control of nonlinear discrete-time systems. Existing MPC formulations based…