Pith Number

pith:BN4P6QA5

pith:2026:BN4P6QA5PG3YB5GI6OR66C2AQK

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Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks

Bernhard Sch\"olkopf, Dieter B\"uchler, Ingmar Posner, Jan Schneider, Le Chen, Mridul Mahajan, Simon Guist

Neural network models nonlinear muscle actuation from position data to enable sim-to-real policy transfer on tendon-driven robot.

arxiv:2604.09487 v2 · 2026-04-10 · cs.RO · cs.LG

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\pithnumber{BN4P6QA5PG3YB5GI6OR66C2AQK}

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Record completeness

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4 Citations open

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Claims

C1strongest claim

Using GeAN on PAMY2, a tendon-driven robot powered by pneumatic artificial muscles, we successfully deploy precise goal-reaching and dynamic ball-in-a-cup policies trained entirely in simulation. To the best of our knowledge, this result constitutes the first successful sim-to-real transfer for a four-degrees-of-freedom muscle-actuated robot arm.

C2weakest assumption

That a neural network trained solely on joint position trajectories can capture the nonlinear actuator dynamics (friction, hysteresis) with sufficient accuracy to enable zero-shot policy transfer from the hybrid simulation to the physical robot without torque sensing or additional adaptation.

C3one line summary

GeAN learns actuator dynamics from position trajectories to enable successful sim-to-real transfer of goal-reaching and ball-in-a-cup policies on a 4-DoF pneumatic muscle-actuated robot, reported as the first such transfer for this system type.

Receipt and verification

First computed	2026-06-02T02:04:17.329467Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0b78ff401d79b780f4c8f3a3ef0b4082984da59798f69217f9dc503fafcc691c

Aliases

arxiv: 2604.09487 · arxiv_version: 2604.09487v2 · doi: 10.48550/arxiv.2604.09487 · pith_short_12: BN4P6QA5PG3Y · pith_short_16: BN4P6QA5PG3YB5GI · pith_short_8: BN4P6QA5

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/BN4P6QA5PG3YB5GI6OR66C2AQK \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 0b78ff401d79b780f4c8f3a3ef0b4082984da59798f69217f9dc503fafcc691c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "383b8d823224d140c3ec76d7ee142a4e5a04776252f74690b5d11f705b20ca02",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-10T16:52:54Z",
    "title_canon_sha256": "4d3db323fa786e629f2692740a55f79c5dab4845ccc1c51f07af94aae6634ae3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.09487",
    "kind": "arxiv",
    "version": 2
  }
}