Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controllers often struggle with hysteresis-induced oscillations, while conventional learning-based approaches suffer from poor generalization to out-of-distribution trajectories. This paper proposes a reference-augmented offline learning framework for precise 6-DOF tracking control of TDCRs. By leveraging a differentiable RNN-based dynamics surrogate as a gradient bridge, we optimize a control policy through an augmented reference distribution. This multi-scale augmentation scheme incorporates stochastic bias, harmonic perturbations, and random walks, forcing the policy to internalize diverse tracking error recovery mechanisms without additional hardware interaction. Experimental results on a three-section TDCR platform demonstrate that the proposed policy achieves a 50.9\% reduction in average position error compared to non-augmented baselines and significantly outperforms Jacobian-based methods in both precision and stability across various speeds.
@article{arxiv.2604.25698,
title = {Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots},
author = {Ziqing Zou and Ke Qiu and Haojian Lu and Rong Xiong and Yue Wang},
journal= {arXiv preprint arXiv:2604.25698},
year = {2026}
}