{"id":"https://openalex.org/W6967228802","doi":"https://doi.org/10.48550/arxiv.2507.08572","title":"Robotic Calibration Based on Haptic Feedback Improves Sim-to-Real Transfer","display_name":"Robotic Calibration Based on Haptic Feedback Improves Sim-to-Real Transfer","publication_year":2025,"publication_date":"2025-07-11","ids":{"openalex":"https://openalex.org/W6967228802","doi":"https://doi.org/10.48550/arxiv.2507.08572"},"language":"en","primary_location":{"id":"doi:10.48550/arxiv.2507.08572","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2507.08572","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2507.08572","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Gavura, Juraj","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gavura, Juraj","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Vavrecka, Michal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vavrecka, Michal","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Farkas, Igor","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farkas, Igor","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Gade, Connor","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gade, Connor","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6988000273704529,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6988000273704529,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.12839999794960022,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.08349999785423279,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5784000158309937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.57669997215271},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5728999972343445},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5577999949455261},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5115000009536743},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4869000017642975},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4697999954223633},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.46709999442100525},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4498000144958496}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5784000158309937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.57669997215271},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5728999972343445},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5577999949455261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5382000207901001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5236999988555908},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5115000009536743},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4869000017642975},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.476500004529953},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4697999954223633},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.46709999442100525},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4498000144958496},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.42100000381469727},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41280001401901245},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4052000045776367},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39629998803138733},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.37459999322891235},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3686000108718872},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36730000376701355},{"id":"https://openalex.org/C2778539339","wikidata":"https://www.wikidata.org/wiki/Q165970","display_name":"Touchscreen","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.310699999332428},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.30570000410079956},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.2937999963760376},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27970001101493835},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.25870001316070557},{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2507.08572","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2507.08572","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2507.08572","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2507.08572","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"When":[0],"inverse":[1],"kinematics":[2],"(IK)":[3],"is":[4,14,59,112,134],"adopted":[5],"to":[6,69],"control":[7],"robotic":[8,39],"arms":[9],"in":[10,28,35,50,62,81,93],"manipulation":[11],"tasks,":[12],"there":[13],"often":[15],"a":[16,66,79,120,152],"discrepancy":[17],"between":[18],"the":[19,25,29,32,56,84,90,94,98,101,107,110,115,124],"end":[20],"effector":[21],"(EE)":[22],"position":[23,58,92],"of":[24,83,136],"robot":[26,85,102],"model":[27,157],"simulator":[30],"and":[31,53,109,130],"physical":[33],"EE":[34,57,91],"reality.":[36],"In":[37,114],"most":[38],"scenarios":[40],"with":[41],"sim-to-real":[42],"transfer,":[43],"we":[44,118],"have":[45],"information":[46,88,111],"about":[47],"joint":[48],"positions":[49],"both":[51],"simulation":[52],"reality,":[54],"but":[55],"only":[60],"available":[61],"simulation.":[63],"We":[64],"developed":[65],"novel":[67],"method":[68],"overcome":[70],"this":[71],"difficulty":[72],"based":[73,126],"on":[74,89,106,127],"haptic":[75],"feedback":[76],"calibration,":[77],"using":[78],"touchscreen":[80],"front":[82],"that":[86,133,151],"provides":[87],"real":[95],"environment.":[96],"During":[97],"calibration":[99],"procedure,":[100],"touches":[103],"specific":[104],"points":[105],"screen,":[108],"stored.":[113],"next":[116],"stage,":[117],"build":[119],"transformation":[121,129],"function":[122],"from":[123,141],"data":[125],"linear":[128],"neural":[131,155],"networks":[132],"capable":[135],"outputting":[137],"all":[138],"missing":[139],"variables":[140],"any":[142],"partial":[143],"input":[144],"(simulated/real":[145],"joint/EE":[146],"position).":[147],"Our":[148],"results":[149],"demonstrate":[150],"fully":[153],"nonlinear":[154],"network":[156],"performs":[158],"best,":[159],"significantly":[160],"reducing":[161],"positioning":[162],"errors.":[163]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}