3 papers
cs.RO2026
RACER: Residual-Adaptive Closed-Loop Estimation for Sampling-Based Planning in Wheeled-Quadruped Racing
Yuxiang Liu, Marla Eisman, Lizhi Yang +2
We present RACER, a hierarchical control framework for wheel-based quadruped racing that combines an MPPI planner with a learned residual dynamics model and a low-level RL velocity…
cs.RO2026
Racing a Wheeled Quadruped: Active Load Transfer Mitigation via Model Predictive Control
Marla Eisman, Brian Lam, Samuel Sonnino +1
This paper presents a hierarchical control framework using model predictive control (MPC) and reinforcement learning (RL) for active roll control to manage lateral load transfer du…
eess.SY2025
Online ResNet-Based Adaptive Control for Nonlinear Target Tracking
Cristian F. Nino, Omkar Sudhir Patil, Jordan C. Insinger +2
A generalized ResNet architecture for adaptive control of nonlinear systems with black box uncertainties is developed. The approach overcomes limitations in existing methods by inc…