Sim-and-real co-training for robot policies is driven primarily by balanced cross-domain representation alignment and secondarily by domain-dependent action reweighting.
Cross-Embodiment Co-Training.A large amount of work (Doshi et al., 2024; Yang et al., 2024; O’Neill et al., 2024; Physical Intelligence, 2025; Yuan et al
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A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies
Sim-and-real co-training for robot policies is driven primarily by balanced cross-domain representation alignment and secondarily by domain-dependent action reweighting.