mlsanityData to 7 Oct 2026

Physics-informed Neural Networks to Model and Control Robots: a Theoretical and Experimental Investigation

arXiv 2305.05375 ↗First posted 9 May 2023cs.ROcited by 16

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Abstract (arXiv)

This work concerns the application of physics-informed neural networks to the modeling and control of complex robotic systems. Achieving this goal required extending Physics Informed Neural Networks to handle non-conservative effects. We propose to combine these learned models with model-based controllers originally developed with first-principle models in mind. By combining standard and new techniques, we can achieve precise control performance while proving theoretical stability bounds. These validations include real-world experiments of motion prediction with a soft robot and of trajectory tracking with a Franka Emika manipulator.

Key facts. Cited by 16 papers in the map (data through 7 Oct 2026). First posted on arXiv 9 May 2023.

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Citing papers per year: 2023: 1; 2024: 3; 2025: 6; 2026: 6.

16 papers.

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  1. 2024From PINNs to PIKANs: Recent Advances in Physics-Informed Machine Learningcited by 73
  2. 2023Neural Autoencoder-Based Structure-Preserving Model Order Reduction and Control Design for High-Dimensional Physical Systemscited by 7
  3. 2024Metamizer: a versatile neural optimizer for fast and accurate physics simulationscited by 7
  4. 2024Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Controlcited by 3
  5. 2025Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networkscited by 3
  6. 2025Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theorycited by 3
  7. 2025Learning Hamiltonian Dynamics at Scale: A Differential-Geometric Approachcited by 2
  8. 2025Data-Driven Adaptive PID Control Based on Physics-Informed Neural Networkscited by 1
  9. 2025Learning Visually Interpretable Oscillator Networks for Soft Continuum Robots from Videocited by 1
  10. 2025Symbolic Learning of Interpretable Reduced-Order Models for Jumping Quadruped Robotscited by 0
  11. 2026Structure-Preserving Gaussian Processes Via Discrete Euler-Lagrange Equationscited by 0
  12. 2026Learned Lyapunov Shielding for Adaptive Controlcited by 0
4 more
  1. 2026CaLiSym: Learning Symplectic Dynamics of Real-World Systems through Structured Canonical Liftscited by 0
  2. 2026SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Modelscited by 0
  3. 2026Constraint-Aware Physics-Informed Neural Networks for Static Shape Estimation of Co-Manipulative Continuum Robotscited by 0
  4. 2026Seven Sources of Physical AI Capability Formationcited by 0