Author name: Sriram S. K. S. Narayanan, Umesh Vaidya

arXiv:2604.04221v2 Announce Type: replace
Abstract: This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while preserving real-tim…

arXiv:2604.04221v1 Announce Type: new
Abstract: This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while preserving real-time tr…