Enhancing Sim2Real Transfer for Torque-Controlled Robots through Real2Sim Dynamics Estimation and Reinforcement Learning

Source: arXiv cs.RO·2026-08-25 12:00Publish time unverified

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.