Closed-Loop Sim-to-Real Reinforcement Learning for Deformable Microfiber Shape Control
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866913151100911616 |
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| author | Amici, Alessandro Bettahar, Houari Jaakkola, Veeti Zhou, Quan |
| author_facet | Amici, Alessandro Bettahar, Houari Jaakkola, Veeti Zhou, Quan |
| contents | Autonomous contact-based micromanipulation is challenging because surface and interfacial interactions at the microscale are difficult to model accurately, limiting the use of conventional model-based control and sim-to-real learning. We present a closed-loop sim-to-real reinforcement learning (RL) approach for microfiber shape control on a surface. The central idea is to train geometric shape regulation in a simplified frictionless simulator and rely on real-time visual feedback during deployment to iteratively correct the observed effects of unmodeled surface interactions. An RL policy trained entirely in simulation is transferred directly to a physical dual-gripper micromanipulation system operating at 40 Hz, without retraining or domain adaptation. Using silk microfibers as a testbed, the policy achieves a mean point-wise shape error of 270 $\pm$ 80 $μ$m across twenty-four diverse initial configurations. Across nine specimens covering all combinations of three fiber diameters (50, 80, and 120 $μ$m) and three manipulated lengths (10 mm, 15mm, and 20 mm), the same policy achieves sub-millimeter final shape error without any retraining or retuning. These results show that a policy learned in a simplified simulator can achieve repeatable real-world microfiber shape regulation under surface contact, provided that the task-relevant effects of the sim-to-real mismatch remain observable and correctable within the closed feedback loop. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_21688 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Closed-Loop Sim-to-Real Reinforcement Learning for Deformable Microfiber Shape Control Amici, Alessandro Bettahar, Houari Jaakkola, Veeti Zhou, Quan Robotics Systems and Control Autonomous contact-based micromanipulation is challenging because surface and interfacial interactions at the microscale are difficult to model accurately, limiting the use of conventional model-based control and sim-to-real learning. We present a closed-loop sim-to-real reinforcement learning (RL) approach for microfiber shape control on a surface. The central idea is to train geometric shape regulation in a simplified frictionless simulator and rely on real-time visual feedback during deployment to iteratively correct the observed effects of unmodeled surface interactions. An RL policy trained entirely in simulation is transferred directly to a physical dual-gripper micromanipulation system operating at 40 Hz, without retraining or domain adaptation. Using silk microfibers as a testbed, the policy achieves a mean point-wise shape error of 270 $\pm$ 80 $μ$m across twenty-four diverse initial configurations. Across nine specimens covering all combinations of three fiber diameters (50, 80, and 120 $μ$m) and three manipulated lengths (10 mm, 15mm, and 20 mm), the same policy achieves sub-millimeter final shape error without any retraining or retuning. These results show that a policy learned in a simplified simulator can achieve repeatable real-world microfiber shape regulation under surface contact, provided that the task-relevant effects of the sim-to-real mismatch remain observable and correctable within the closed feedback loop. |
| title | Closed-Loop Sim-to-Real Reinforcement Learning for Deformable Microfiber Shape Control |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2605.21688 |