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cs.RO2026
Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots
Paul Leonard Wolff, Hugo Buurmeijer, Luis Pabon +6
Continuum robots exhibit high-dimensional, nonlinear dynamics which are often coupled with their actuation mechanism. Spectral submanifold (SSM) reduction has emerged as a leading…
cs.RO2026
Graph Neural Model Predictive Control for High-Dimensional Systems
Patrick Benito Eberhard, Luis Pabon, Daniele Gammelli +5
The control of high-dimensional systems, such as soft robots, requires models that faithfully capture complex dynamics while remaining computationally tractable. This work presents…