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

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

• Proximal Policy Optimization Algorithms
• High-Dimensional Continuous Control Using Generalized Advantage Estimation

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