@article{rkmpcresidualkoopmanmodelpredictivecontr,
  title = {RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments},
  author = {Sriram S. K. S. Narayanan and Umesh Vaidya},
  year = {2026},
  eprint = {2604.04221},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.04221},
}