SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866912975197044736 |
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| author | Ma, Ziyong Yoo, Uksang Francis, Jonathan Zhi, Weiming Ichnowski, Jeffrey Oh, Jean |
| author_facet | Ma, Ziyong Yoo, Uksang Francis, Jonathan Zhi, Weiming Ichnowski, Jeffrey Oh, Jean |
| contents | While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional actuation commands remains an open challenge due to nonlinear material phenomena such as hysteresis and manufacturing variability. We present SOFTMAP, a sim-to-real learning framework for real-time 3D forward modeling of tendon-actuated soft finger manipulators. SOFTMAP combines four components: (1) As-Rigid-As-Possible (ARAP)-based topological alignment that projects simulated and real point clouds into a shared, topologically consistent vertex space; (2) a lightweight MLP forward model pretrained on simulation data to map servo commands to full 3D finger geometry; (3) a residual correction network trained on a small set of real observations to predict per-vertex displacement fields that compensate for sim-to-real discrepancies; and (4) a closed-form linear actuation calibration layer enabling real-time inference at 30 FPS. We evaluate SOFTMAP on both simulated and physical hardware, achieving state-of-the-art shape prediction accuracy with a Chamfer distance of 0.389 mm in simulation and 3.786 mm on hardware, millimeter-level fingertip trajectory tracking across multiple target paths, and a 36.5% improvement in teleoperation task success over the baseline. Our results show that SOFTMAP provides a data-efficient approach for 3D forward modeling and control of soft manipulators. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_19384 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior Ma, Ziyong Yoo, Uksang Francis, Jonathan Zhi, Weiming Ichnowski, Jeffrey Oh, Jean Robotics While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional actuation commands remains an open challenge due to nonlinear material phenomena such as hysteresis and manufacturing variability. We present SOFTMAP, a sim-to-real learning framework for real-time 3D forward modeling of tendon-actuated soft finger manipulators. SOFTMAP combines four components: (1) As-Rigid-As-Possible (ARAP)-based topological alignment that projects simulated and real point clouds into a shared, topologically consistent vertex space; (2) a lightweight MLP forward model pretrained on simulation data to map servo commands to full 3D finger geometry; (3) a residual correction network trained on a small set of real observations to predict per-vertex displacement fields that compensate for sim-to-real discrepancies; and (4) a closed-form linear actuation calibration layer enabling real-time inference at 30 FPS. We evaluate SOFTMAP on both simulated and physical hardware, achieving state-of-the-art shape prediction accuracy with a Chamfer distance of 0.389 mm in simulation and 3.786 mm on hardware, millimeter-level fingertip trajectory tracking across multiple target paths, and a 36.5% improvement in teleoperation task success over the baseline. Our results show that SOFTMAP provides a data-efficient approach for 3D forward modeling and control of soft manipulators. |
| title | SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.19384 |