A Tendon-Driven Robotic Jellyfish with Constrained Soft Actuation and Depth Control via Reinforcement Learning

arXiv:2609.29132 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 8 pages, 8 figures

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

Terminology

Steering — 11× in this paper · explained in 2 episodes
Actor — 8× in this paper · explained in 3 episodes
Reinforcement Learning — 8× in this paper · explained in 4 episodes
Trace — 4× in this paper · explained in 2 episodes
Computational Fluid Dynamics — 2× in this paper
Abstraction — 1× in this paper · explained in 1 episode
Adaptation — 1× in this paper · explained in 1 episode
Calibration — 1× in this paper · explained in 7 episodes
Closed-Loop Control — 1× in this paper · explained in 3 episodes
Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
Embodied AI — 1× in this paper · explained in 2 episodes
Fidelity — 1× in this paper · explained in 2 episodes
Fine-Tuning — 1× in this paper · explained in 5 episodes
Fluid-Structure Interaction — 1× in this paper
Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
Robustness — 1× in this paper · explained in 5 episodes
Root-Mean-Square Error — 1× in this paper
Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
Structural Constraints — 1× in this paper · explained in 2 episodes
Temporal Abstraction — 1× in this paper · explained in 2 episodes

Sources

Related papers