@article{inverseresistiveforcetheoryirftlearningg,
  title = {Inverse Resistive Force Theory (I-RFT): Learning granular properties through robot-terrain physical interactions},
  author = {Shipeng Liu and Feng Xue and Yifeng Zhang and Tarunika Ponnusamy and Feifei Qian},
  year = {2026},
  eprint = {2603.07796},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.07796},
}