2 papers
cs.RO2026
Efficient Transfer Learning of Robot Dynamic Models Using Morphological Similarity
Pavlo Kupyn, Yuya Hamamatsu, Roza Gkliva +2
This study proposes a neural network-based transfer learning framework for modeling the dynamics of soft, fin-actuated underwater robots. We focus on morphologically similar robots…
cs.RO2025
Underwater Soft Fin Flapping Motion with Deep Neural Network Based Surrogate Model
Yuya Hamamatsu, Pavlo Kupyn, Roza Gkliva +2
This study presents a novel framework for precise force control of fin-actuated underwater robots by integrating a deep neural network (DNN)-based surrogate model with reinforcemen…