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News/NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception
arxiv
PublishedJuly 20, 2026 at 4:00 AM
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NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception

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arXiv:2607.11734v2 Announce Type: replace-cross Abstract: Differentiable simulators have advanced policy learning and model-based control across robotic tasks. Yet actuator dynamics remain underexplored and can be a major source of sim-to-real error, particularly on low-cost platforms, where the lin

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