Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation

arXiv:2609.20477 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Project page: https://rebarsim.github.io

Terminology

• Distillation — 11× in this paper · explained in 2 episodes
• Adaptation — 8× in this paper · explained in 1 episode
• Generalization — 5× in this paper · explained in 13 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Active Perception — 1× in this paper · explained in 2 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Covariate Shift — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Teacher-Student Distillation — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Emergent Dexterity via Diverse Resets and Large-Scale Reinforcement Learning
• Solving Rubik's Cube with a Robot Hand
• SAM 2: Segment Anything in Images and Videos
• Proximal Policy Optimization Algorithms
• VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation

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