# A Deep Inverse-Mapping Model for a Flapping Robotic Wing

arXiv: https://arxiv.org/abs/2502.09378 · HTML: https://mlsanity.com/paper/2502.09378/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 10 of its 57 references that are in the map.
- First posted on arXiv 13 Feb 2025.

## Builds on (most cited first, 10 of 10)

- [Neural Machine Translation by Jointly Learning to Align and Translate](https://mlsanity.com/paper/1409.0473/) (2014)
- [Fourier Neural Operator for Parametric Partial Differential Equations](https://mlsanity.com/paper/2010.08895/) (2020)
- [Autoformer: Decomposition Transformers with Auto-Correlation for Long-Term Series Forecasting](https://mlsanity.com/paper/2106.13008/) (2021)
- [Are Transformers Effective for Time Series Forecasting?](https://mlsanity.com/paper/2205.13504/) (2022)
- [FEDformer: Frequency Enhanced Decomposed Transformer for Long-term Series Forecasting](https://mlsanity.com/paper/2201.12740/) (2022)
- [Time Series Forecasting With Deep Learning: A Survey](https://mlsanity.com/paper/2004.13408/) (2020)
- [Spectral Temporal Graph Neural Network for Multivariate Time-series Forecasting](https://mlsanity.com/paper/2103.07719/) (2021)
- [Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds](https://mlsanity.com/paper/2205.06908/) (2022)
- [Sampled Softmax with Random Fourier Features](https://mlsanity.com/paper/1907.10747/) (2019)
- [State-space aerodynamic model reveals high force control authority and predictability in flapping flight](https://mlsanity.com/paper/2103.07994/) (2021)

## Abstract (arXiv)

In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a straightforward mapping between the input rotation rate and the resulting thrust. This mapping can be inverted to determine the rotation rate needed to generate a desired thrust. However, in complex systems, such as flapping-wing robots where intricate fluid motions are involved, mapping inputs (wing kinematics) to outcomes (aerodynamic forces) is nontrivial and inverting this mapping for real-time control is computationally impractical. Here, we report a machine-learning solution for the inverse mapping of a flapping-wing system based on data from an experimental system we have developed. Our model learns the input wing motion required to generate a desired aerodynamic force outcome. We used a sequence-to-sequence model tailored for time-series data and augmented it with a novel adaptive-spectrum layer that implements representation learning in the frequency domain. To train our model, we developed a flapping wing system that simultaneously measures the wing's aerodynamic force and its 3D motion using high-speed cameras. We demonstrate the performance of our system on an additional open-source dataset of a flapping wing in a different flow regime. Results show superior performance compared with more complex state-of-the-art transformer-based models, with 11% improvement on the test datasets median loss. Moreover, our model shows superior inference time, making it practical for onboard robotic control. Our open-source data and framework may improve modeling and real-time control of systems governed by complex dynamics, from biomimetic robots to biomedical devices.