Rahdar Hussain Afridi

Stabilizing 3D Continuum-Arm Rollouts via Equilibrium Anchoring and Feature-Lifted Residual Learning

Multi-step motion prediction for continuum robots is difficult, especially under actuation distribution shift, where error accumulation can distort the predicted steady response and destabilize rollouts. This paper introduces a hybrid equilibrium-anchored plus residual-learning framework for a tendo…