asRoBallet achieves the first hardware deployment of an end-to-end RL policy for a humanoid ballbot by training in a high-fidelity simulation that models discrete roller mechanics and multi-channel friction for zero-shot transfer.
Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation
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asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
asRoBallet achieves the first hardware deployment of an end-to-end RL policy for a humanoid ballbot by training in a high-fidelity simulation that models discrete roller mechanics and multi-channel friction for zero-shot transfer.