2 papers
cs.RO2026
Composable Model-Free RL for Navigation with Input-Affine Systems
Xinhuan Sang, Abdelrahman Abdelgawad, Roberto Tron
As autonomous robots move into complex, dynamic real-world environments, they must learn to navigate safely in real time, yet anticipating all possible behaviors is infeasible. We…
cs.RO2026
Gradient-Enhanced Partitioned Gaussian Processes for Real-Time Quadrotor Dynamics Modeling
Xinhuan Sang, Adam Rozman, Sheryl Grace +1
We present a quadrotor dynamics Gaussian Process (GP) with gradient information that achieves real-time inference via state-space partitioning and approximation, and that includes…