{"id":"https://openalex.org/W7161151762","doi":"https://doi.org/10.48550/arxiv.2605.12790","title":"Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots","display_name":"Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots","publication_year":2026,"publication_date":"2026-05-12","ids":{"openalex":"https://openalex.org/W7161151762","doi":"https://doi.org/10.48550/arxiv.2605.12790"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.12790","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.12790","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":null,"license_id":null,"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.2605.12790","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057632155","display_name":"Navid Feizi","orcid":"https://orcid.org/0000-0002-8656-7221"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feizi, Navid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036996995","display_name":"Filipe C. Pedrosa","orcid":"https://orcid.org/0000-0001-8509-8809"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pedrosa, Filipe C.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136120203","display_name":"Rajni V. Patel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patel, Rajni V.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5074629957","display_name":"Jagadeesan Jayender","orcid":"https://orcid.org/0000-0002-3308-3012"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jayender, Jagadeesan","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":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.6814000010490417,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.6814000010490417,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.20229999721050262,"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":0.008799999952316284,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.6521000266075134},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6489999890327454},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5806000232696533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5450999736785889},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.5181999802589417},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4390000104904175},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41019999980926514}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6521000266075134},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6489999890327454},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5806000232696533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5450999736785889},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.5181999802589417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4869000017642975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4717999994754791},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4390000104904175},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41019999980926514},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.39469999074935913},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3928000032901764},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3741999864578247},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32679998874664307},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2831000089645386},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.12790","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.12790","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.12790","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.12790","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":null,"license_id":null,"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":{"Modeling":[0],"concentric":[1],"tube":[2],"robots":[3],"(CTRs)":[4],"involves":[5],"complex":[6],"nonlinear":[7],"continuum":[8],"mechanics,":[9,46],"and":[10,51,84,108,123,150],"despite":[11],"recent":[12],"progress,":[13],"physics-based":[14,132],"models":[15,32],"often":[16,43],"lack":[17],"an":[18],"accurate":[19],"representation":[20],"of":[21,56,69,100,119],"the":[22,57,79,120],"experimental":[23],"setups.":[24],"To":[25],"overcome":[26],"these":[27],"limitations,":[28],"deep":[29],"neural":[30,63],"network-based":[31],"have":[33],"been":[34],"explored":[35],"as":[36],"alternatives":[37],"with":[38,73,93],"superior":[39],"accuracy;":[40],"however,":[41],"they":[42],"overlook":[44],"known":[45],"require":[47],"large":[48],"training":[49,141],"datasets,":[50],"typically":[52],"discard":[53],"shape":[54,115],"estimation":[55,99],"robot.":[58],"We":[59],"present":[60],"a":[61,70,113,130,139],"physics-informed":[62],"network":[64],"(PINN)":[65],"for":[66,155],"kinematic":[67,127],"modeling":[68],"6-DoF":[71],"CTR":[72],"three":[74],"pre-curved":[75],"tubes":[76],"that":[77],"embeds":[78],"Cosserat":[80,133],"rod":[81,134],"differential":[82],"equations":[83],"learns":[85],"from":[86],"few-shot":[87],"observational":[88],"data,":[89],"balancing":[90],"physics":[91],"priors":[92],"data-driven":[94],"fitting.":[95],"PINN":[96],"enables":[97],"full-state":[98],"shape,":[101],"twist":[102],"angle,":[103],"torsional":[104],"strain,":[105],"bending":[106],"moment,":[107],"orientation.":[109],"Benchmark":[110],"tests":[111],"show":[112],"mean":[114],"error":[116],"below":[117],"1%":[118],"robot":[121],"length":[122],"accurately":[124],"recovered":[125],"other":[126],"states,":[128],"outperforming":[129],"purely":[131],"model":[135,145],"baseline":[136],"while":[137],"using":[138],"minimal":[140],"set.":[142],"The":[143],"resulting":[144],"is":[146],"also":[147],"computationally":[148],"efficient":[149],"robust,":[151],"making":[152],"it":[153],"well-suited":[154],"real-time":[156],"control":[157],"applications.":[158]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-15T00:00:00"}
