3 papers
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.RO2025
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…
cs.RO2025
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…