Coordinate-Independent Robot Model Identification

arXiv:2603.14656 · cs.RO · Submitted 2026-03-15 · Read on arXiv

cs.RO

Submitted: 2026-03-15

Updated: 2026-09-23

Comments: 8 pages, 7 figures, supplementary video: https://youtu.be/X284Op5Wgr4. Accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Regularization — 9× in this paper · explained in 3 episodes
• System Identification — 7× in this paper · explained in 3 episodes
• Robustness — 5× in this paper · explained in 5 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Consistency — 4× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Interpretability — 2× in this paper · explained in 15 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Core — 1× in this paper · explained in 2 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes

Sources

• Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps

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