A dual learning framework, RL in simulation plus GAIL from human demonstrations, with a pre-calibrated sim-to-real step, achieves kinematic control of a soft manipulator under loads and in confined pipes.
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Sensor-Space Based Robust Kinematic Control of Redundant Soft Manipulator by Learning
A dual learning framework, RL in simulation plus GAIL from human demonstrations, with a pre-calibrated sim-to-real step, achieves kinematic control of a soft manipulator under loads and in confined pipes.