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

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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