QuadVerse integrates 3D Gaussian Splatting scene reconstruction, friction calibration via trajectory search, and a residual dynamics compensator to improve quadruped simulation fidelity and enable zero-shot policy transfer.
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QuadVerse: An Integrated Framework Aligning Visual-Physical Reality for Quadruped Simulation
QuadVerse integrates 3D Gaussian Splatting scene reconstruction, friction calibration via trajectory search, and a residual dynamics compensator to improve quadruped simulation fidelity and enable zero-shot policy transfer.