Closed-Loop Sim-to-Real Reinforcement Learning for Deformable Microfiber Shape Control

TL;DR

This paper introduces a closed-loop reinforcement learning method for microfiber shape control that transfers a simulation-trained policy directly to a real micromanipulation system, achieving accurate shape regulation without retraining.

Contribution

The authors develop a sim-to-real RL approach that uses real-time visual feedback to correct unmodeled surface interactions, enabling effective microfiber shape control without domain adaptation.

Findings

Achieved a mean shape error of 270 ± 80 μm across diverse configurations.

Demonstrated sub-millimeter accuracy across multiple fiber diameters and lengths.

Showed that a simulation-trained policy can operate effectively in real-world contact tasks.

Abstract

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 $\mu$m across twenty-four diverse initial configurations. Across nine specimens covering all combinations of three fiber diameters (50, 80, and 120 $\mu$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.