Actuator reality shaping uses a 2DOF controller to align real actuator closed-loop behavior with idealized simulation reference dynamics, enabling zero-shot sim-to-real policy deployment across multiple robot platforms.
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cs.RO 2years
2026 2representative citing papers
HORIZON is a recoverability-governed checkpointed frontier curriculum for on-policy physical-domain scaling on quadruped locomotion that identifies three regularities: uneven widening, non-monotonic composition, and the necessity of joint on-policy interaction.
citing papers explorer
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Actuator Reality Shaping for Zero-Shot Sim-to-Real Robot Learning
Actuator reality shaping uses a 2DOF controller to align real actuator closed-loop behavior with idealized simulation reference dynamics, enabling zero-shot sim-to-real policy deployment across multiple robot platforms.
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HORIZON: Recoverability-Governed Curriculum for Physical-Domain Scaling
HORIZON is a recoverability-governed checkpointed frontier curriculum for on-policy physical-domain scaling on quadruped locomotion that identifies three regularities: uneven widening, non-monotonic composition, and the necessity of joint on-policy interaction.