Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots. - Paul Leonard Wolff; Hugo Buurmeijer; Luis A. Pabon; John Irvin Alora; Mark Leone; Roshan S. Kaundinya; Amirhossein Kazemipour; Robert K. Katzschmann; Marco Pavone 001 (CoRR, 2026)