John U. Onyemelukwe

NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception

Differentiable simulators have advanced policy learning and model-based control across diverse robotic tasks. To date, actuator dynamics remain underexplored and are a major source of sim-to-real error, especially on low-cost platforms where the linear current–torque model τ = K_tI breaks down under…