Author

Joel W. Burdick

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Preprint Oct 2026

OATH: Object-Agnostic Tracking for Dexterous Hands, Enabling Rapid Physics-based Retargeting

Retargeting human demonstrations into dynamically feasible dexterous hand trajectories requires resolving complex contact physics, yet current methods either omit physical constraints or rely on computationally expensive sampling-based optimization in simulation. Reinforcement learning has previously been used to achie...

S. Sigurdson, Prasanna Sriganesh, Juan Borbon et al. · 0 citations

Preprint Oct 2026

Real-Time Disturbance-Aware Koopman Model Predictive Control for Quadrotors in Spatially Varying Winds

Reliable quadrotor flight in disturbed environments requires predictive models that remain accurate as unmodeled aerodynamic effects change during deployment. We introduce a disturbance-aware Koopman Control Family (DA-KCF) framework that preserves an offline-identified nominal model while learning only a disturbance-i...

Stella Kombo, Masih Haseli, A. Stefan-Zavala et al. · 0 citations