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cs.RO2026
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
Evelyn D'Elia, Weishu Zhan, Giulio Turrisi +5
Reinforcement learning (RL) algorithms classically suffer from poor sample efficiency. In robotics, a recent line of work has emerged addressing this problem by encoding physics pr…
cs.RO2026
FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance
Qintong Xie, Weishu Zhan, Peter Chin
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware forma…