Enhancing Sim2Real Transfer for Torque-Controlled Robots through Real2Sim Dynamics Estimation and Reinforcement Learning
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来源：arXiv cs.RO发布时间待核实
arXiv:2608.22629v1 Announce Type: new Abstract: Transferring reinforcement learning policies from simulation to Real-World robots remains a major challenge, particularly when dealing with low-level torque control, where even small modelling inaccuracies can lead to unstable or unsafe behaviours.