Pith Number

pith:NNUDKZZ7

pith:2026:NNUDKZZ7JUG34EHGSTLNB4WELR

not attested not anchored not stored refs pending

Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots

Fei Wang, Haojian Lu, Ke Qiu, Rong Xiong, Yue Wang, Ziqing Zou

A GRU dynamics model optimized end-to-end lets tendon-driven continuum robots track accurately and reject unseen payloads without self-excited oscillations.

arxiv:2604.25691 v2 · 2026-04-28 · cs.RO

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\usepackage{pith}
\pithnumber{NNUDKZZ7JUG34EHGSTLNB4WELR}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Experimental validation on a physical three-section TDCR demonstrates that our framework achieves accurate tracking and superior robustness against unseen payloads, outperforming Jacobian-based methods by eliminating self-excited oscillations.

C2weakest assumption

The GRU-based dynamics model featuring bidirectional multi-channel connectivity and residual prediction effectively suppresses compounding errors during long-horizon auto-regressive prediction, allowing the end-to-end neural policy to implicitly internalize compensation for intricate nonlinearities.

C3one line summary

A bidirectional multi-channel GRU dynamics model with residual prediction supports end-to-end neural control for tendon-driven continuum robots, delivering accurate tracking and robustness to unseen payloads without self-excited oscillations.

Receipt and verification

First computed	2026-06-24T01:15:03.151112Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6b6835673f4d0dbe10e694d6d0f2c45c766d0c0fb68bce812992cb59137f204a

Aliases

arxiv: 2604.25691 · arxiv_version: 2604.25691v2 · doi: 10.48550/arxiv.2604.25691 · pith_short_12: NNUDKZZ7JUG3 · pith_short_16: NNUDKZZ7JUG34EHG · pith_short_8: NNUDKZZ7

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/NNUDKZZ7JUG34EHGSTLNB4WELR \
  | 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: 6b6835673f4d0dbe10e694d6d0f2c45c766d0c0fb68bce812992cb59137f204a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2301b4522f3fe8254f12c56f853fa09452d4f021898e588e1694eeb1c349c981",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-28T14:20:44Z",
    "title_canon_sha256": "23e5bd9731d3d33ce07a66aaf437252f00b1d244d721e787ffdcbfaec8d6fc1d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.25691",
    "kind": "arxiv",
    "version": 2
  }
}