{"id":"https://openalex.org/W7134008143","doi":"https://doi.org/10.48550/arxiv.2603.04351","title":"Tendon Force Modeling for Sim2Real Transfer of Reinforcement Learning Policies for Tendon-Driven Robots","display_name":"Tendon Force Modeling for Sim2Real Transfer of Reinforcement Learning Policies for Tendon-Driven Robots","publication_year":2026,"publication_date":"2026-03-04","ids":{"openalex":"https://openalex.org/W7134008143","doi":"https://doi.org/10.48550/arxiv.2603.04351"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.04351","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119838989","display_name":"Valentin Yuryev","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yuryev, Valentin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128143660","display_name":"Josie Hughes","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hughes, Josie","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5119838989"],"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":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5526999831199646,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5526999831199646,"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/T10868","display_name":"Soft Robotics and Applications","score":0.17630000412464142,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10982","display_name":"Motor Control and Adaptation","score":0.0689999982714653,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7585999965667725},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6967999935150146},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6690000295639038},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6435999870300293},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5152000188827515},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4262000024318695},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.3887999951839447},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.3716000020503998}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7585999965667725},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6967999935150146},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6690000295639038},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6435999870300293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5685999989509583},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5152000188827515},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4262000024318695},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4056999981403351},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3912000060081482},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38530001044273376},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.3716000020503998},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.3714999854564667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3693000078201294},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33180001378059387},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.32249999046325684},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31380000710487366},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.31119999289512634},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.26339998841285706}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.04351","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.04351","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.04351","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.04351","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"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":{"Robots":[0],"which":[1,14,59],"make":[2],"use":[3],"of":[4,77,105,142,170,176,245],"soft":[5,249],"or":[6],"compliant":[7],"inter-":[8],"actions":[9],"often":[10],"leverage":[11],"tendon-driven":[12,218],"actuation":[13],"enables":[15],"actuators":[16,227],"to":[17,24,46,90,134,161,225,236],"be":[18,25,41,47,237],"placed":[19],"more":[20,43],"flexibly,":[21],"and":[22,54,70,124,181,228,231,248],"compliance":[23],"maintained.":[26],"However,":[27],"controlling":[28],"complex":[29,44],"tendon":[30,93,110,136,156,172,241],"systems":[31],"is":[32,168,182,223],"challenging.":[33],"Simulation":[34],"paired":[35],"with":[36,204],"reinforcement":[37],"learning":[38],"(RL)":[39],"could":[40],"enable":[42,233],"behaviors":[45],"generated.":[48],"Such":[49],"methods":[50],"rely":[51],"on":[52,102,216],"torque":[53],"force-based":[55],"simulation":[56,160],"roll-":[57],"outs":[58],"are":[60],"limited":[61],"by":[62,96,120,199],"the":[63,68,92,103,177,193],"sim-to-real":[64,194],"gap,":[65],"stemming":[66],"from":[67],"actuator":[69],"system":[71],"dynamics,":[72],"resulting":[73],"in":[74,153,211],"poor":[75],"transfer":[76,104],"RL":[78,106,234],"policies":[79,107,235],"onto":[80],"real":[81,217],"robots.":[82,250],"To":[83],"address":[84],"this,":[85],"we":[86,191],"propose":[87],"a":[88,109,125,154,208],"method":[89],"model":[91,152,167,188,206],"forces":[94,137,173],"produced":[95],"typical":[97,141],"servo":[98],"motors,":[99],"focusing":[100],"specifically":[101],"for":[108,196],"driven":[111,118],"finger.":[112],"Our":[113,165],"approach":[114,222],"extends":[115],"existing":[116],"data-":[117],"techniques":[119],"leveraging":[121],"contextual":[122],"history":[123],"novel":[126],"data":[127],"collection":[128],"test-bench.":[129],"This":[130,221],"test-bench":[131],"allows":[132],"us":[133],"capture":[135],"undergo":[138],"contact-rich":[139],"interactions":[140],"real-":[143],"world":[144],"manipulation.":[145],"We":[146],"then":[147],"utilize":[148],"our":[149,186,205],"force":[150,180],"estimation":[151],"GPU-accelerated":[155],"force-driven":[157],"rigid":[158],"body":[159],"train":[162],"RL-based":[163,201],"controllers.":[164],"transformer-based":[166],"capable":[169],"predicting":[171],"within":[174],"3%":[175],"maximum":[178],"motor":[179],"robot-agnostic.":[183],"By":[184],"integrating":[185],"learned":[187],"into":[189],"simulation,":[190],"reduce":[192],"gap":[195],"test":[197],"trajectories":[198],"41%.":[200],"controller":[202],"trained":[203],"achieves":[207],"50%":[209],"improvement":[210],"fingertip":[212],"pose":[213],"tracking":[214],"tasks":[215],"robotic":[219],"fingers.":[220],"generalizable":[224],"different":[226],"robot":[229],"systems,":[230,242],"can":[232],"used":[238],"widely":[239],"across":[240],"advancing":[243],"capabilities":[244],"dexterous":[246],"manipulators":[247]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-06T00:00:00"}