2 papers
eess.SY2026
Real-Time Reference Shaping for Servo Systems
Zehui Lu, Yebin Wang, Go Sato +1
This paper addresses real-time motion planning for servo systems subject to nonlinear, state-dependent actuator constraints. A reference reshaping method is proposed that combines…
cs.RO2026
Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems
Wenjian Hao, Yuxuan Fang, Zehui Lu +1
This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dyn…