{"id":"https://openalex.org/W7134843268","doi":"https://doi.org/10.48550/arxiv.2603.07796","title":"Inverse Resistive Force Theory (I-RFT): Learning granular properties through robot-terrain physical interactions","display_name":"Inverse Resistive Force Theory (I-RFT): Learning granular properties through robot-terrain physical interactions","publication_year":2026,"publication_date":"2026-03-08","ids":{"openalex":"https://openalex.org/W7134843268","doi":"https://doi.org/10.48550/arxiv.2603.07796"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.07796","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"article","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/A5128641116","display_name":"Shipeng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Shipeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128674425","display_name":"Feng Xue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xue, Feng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128677609","display_name":"Yifeng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yifeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128650250","display_name":"Tarunika Ponnusamy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ponnusamy, Tarunika","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5067936185","display_name":"Feifei Qian","orcid":"https://orcid.org/0000-0001-9656-1168"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian, Feifei","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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19824981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.7513999938964844,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7513999938964844,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.04500000178813934,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.04230000078678131,"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/terrain","display_name":"Terrain","score":0.6535000205039978},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5861999988555908},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4659999907016754},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45329999923706055},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.41100001335144043},{"id":"https://openalex.org/keywords/resistive-touchscreen","display_name":"Resistive touchscreen","score":0.40860000252723694},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.36899998784065247},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.3626999855041504},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.3562999963760376}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6535000205039978},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5861999988555908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5230000019073486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46619999408721924},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4659999907016754},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45329999923706055},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.41100001335144043},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.3626999855041504},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.3562999963760376},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3386000096797943},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.32839998602867126},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.32670000195503235},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.3107999861240387},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.2858000099658966},{"id":"https://openalex.org/C32568104","wikidata":"https://www.wikidata.org/wiki/Q1155083","display_name":"Granular material","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27549999952316284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2702000141143799},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2662999927997589}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.07796","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.07796","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.07796","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"pmh:doi:10.48550/arxiv.2603.07796","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"For":[0],"robots":[1,160],"to":[2,14,95,161],"navigate":[3],"safely":[4],"and":[5,142,165,185],"efficiently":[6],"on":[7,51],"soft,":[8],"granular":[9,46,111,183],"terrains,":[10],"it":[11],"is":[12],"crucial":[13],"gather":[15],"information":[16,170],"about":[17],"the":[18,86,110,115,149,153],"terrain's":[19],"mechanical":[20],"properties,":[21],"which":[22,84],"directly":[23],"affect":[24],"locomotion":[25,190],"performance.":[26],"Recent":[27],"research":[28],"has":[29],"developed":[30],"robotic":[31],"legs":[32],"that":[33,132,148,192],"can":[34],"accurately":[35,134],"sense":[36],"ground":[37],"reaction":[38],"forces":[39,103],"during":[40,65],"locomotion.":[41,67],"However,":[42],"existing":[43],"tests":[44],"of":[45,181],"property":[47],"estimation":[48],"often":[49],"rely":[50],"specific":[52],"foot":[53,163],"trajectories,":[54],"such":[55],"as":[56],"vertical":[57],"penetration":[58],"or":[59],"horizontal":[60],"shear,":[61],"limiting":[62],"their":[63],"applicability":[64],"natural":[66],"To":[68],"address":[69],"this":[70],"limitation,":[71],"we":[72,146],"introduce":[73],"a":[74,175],"physics-informed":[75],"machine":[76],"learning":[77,116],"framework,":[78],"Inverse":[79],"Resistive":[80,88],"Force":[81,89],"Theory":[82,90],"(I-RFT),":[83],"integrates":[85],"Granular":[87],"model":[91,113],"with":[92],"Gaussian":[93],"Processes":[94],"infer":[96],"terrain":[97,136,154,198],"properties":[98,137],"from":[99],"proprioceptively":[100],"measured":[101],"contact":[102],"under":[104],"arbitrary":[105],"gait":[106,140,166,195],"trajectories.":[107],"By":[108],"embedding":[109],"force":[112],"within":[114],"process,":[117],"I-RFT":[118,133],"preserves":[119],"physical":[120],"consistency":[121],"while":[122],"enabling":[123],"generalization":[124],"across":[125,138],"diverse":[126],"motion":[127],"primitives.":[128],"Experimental":[129],"results":[130],"demonstrate":[131],"estimates":[135],"multiple":[139],"trajectories":[141,167],"toe":[143],"shapes.":[144],"Moreover,":[145],"show":[147],"quantified":[150],"uncertainty":[151],"over":[152],"resistance":[155],"stress":[156],"map":[157],"could":[158],"enable":[159],"optimize":[162],"design":[164],"for":[168,178,189,196],"efficient":[169],"gathering.":[171],"This":[172],"approach":[173],"establishes":[174],"new":[176,187],"foundation":[177],"data-efficient":[179],"characterization":[180],"complex":[182],"environments":[184],"opens":[186],"avenues":[188],"strategies":[191],"actively":[193],"adapt":[194],"autonomous":[197],"exploration.":[199]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-11T00:00:00"}