Provably Safe Sim-to-Real Transfer

arXiv:2609.01418 · cs.LG, cs.AI · Submitted 2026-09-01 · Read on arXiv

cs.LG, cs.AI

Submitted: 2026-09-01

Updated: 2026-09-25

Terminology

• Sample Complexity — 40× in this paper · explained in 15 episodes
• Reinforcement Learning — 21× in this paper · explained in 4 episodes
• Accuracy — 16× in this paper · explained in 1 episode
• Sim-to-Real Transfer — 16× in this paper · explained in 2 episodes
• Reward Function — 12× in this paper · explained in 2 episodes
• Action Space — 4× in this paper · explained in 1 episode
• Theoretical Guarantees — 4× in this paper · explained in 2 episodes
• Adam — 3× in this paper · explained in 2 episodes
• Regret — 3× in this paper · explained in 3 episodes
• Sample Efficiency — 3× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Active Learning — 1× in this paper · explained in 6 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Core — 1× in this paper · explained in 2 episodes
• Curse of Dimensionality — 1× in this paper · explained in 6 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Playing Atari with Deep Reinforcement Learning
• Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
• A Unified Algorithmic Framework for Hybrid Reinforcement Learning in Tabular MDPs with Shifted Transition Dynamics

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