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History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in material behavior, tendon transmission, friction, and contact. Measured joint configurations and nominal tendon commands do not fully characterize these internal mechanical factors, leaving uncertainty in the subsequent motion. We therefore develop a history-conditioned, physics-informed flow-matching framework for probabilistic dynamics prediction, using motion and actuation histories to predict the distribution of the next complete joint configuration. By recursively sampling next-

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