Coupled State-Space Modelling, Control, and Policy Distillation for Hybrid Rigid-Pneumatic Manipulators

arXiv:2609.29424 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 8 pages, 4 figures, ICRA

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

Terminology

Benchmark — 15× in this paper · explained in 2 episodes
Distillation — 11× in this paper · explained in 2 episodes
Hysteresis — 10× in this paper · explained in 3 episodes
Actor — 8× in this paper · explained in 3 episodes
Reinforcement Learning — 6× in this paper · explained in 4 episodes
Robustness — 5× in this paper · explained in 5 episodes
Ablation — 3× in this paper · explained in 1 episode
Covariate Shift — 3× in this paper · explained in 2 episodes
Credit assignment — 3× in this paper · explained in 3 episodes
Fine-Tuning — 2× in this paper · explained in 5 episodes
Trace — 2× in this paper · explained in 2 episodes
Adam — 1× in this paper · explained in 2 episodes
Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
Generative AI — 1× in this paper · explained in 2 episodes
Regret — 1× in this paper · explained in 3 episodes
Regularization — 1× in this paper · explained in 3 episodes
Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
Soft Actor-Critic (SAC) — 1× in this paper · explained in 2 episodes

Sources

Koopman Model Predictive Control of An Origami-Inspired Soft Exoskeleton for Knee Rehabilitation

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