Online Sim-to-Real Adaptation via Closed-Loop System Modeling

arXiv:2609.28878 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Adaptation — 60× in this paper · explained in 1 episode
• Accuracy — 11× in this paper · explained in 1 episode
• Sim-to-Real Transfer — 10× in this paper · explained in 2 episodes
• Online Adaptation — 8× in this paper · explained in 3 episodes
• Closed-Loop System — 7× in this paper · explained in 4 episodes
• System Identification — 5× in this paper · explained in 3 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Action-Conditioned Dynamics — 2× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Latent Representation — 2× in this paper · explained in 2 episodes
• Meta-learning — 2× in this paper · explained in 2 episodes
• Rapid Motor Adaptation — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Steering — 2× in this paper · explained in 2 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Active Exploration — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Neural Surrogates — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
• ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
• Preparing for the Unknown: Learning a Universal Policy with Online System Identification
• RMA: Rapid Motor Adaptation for Legged Robots
• PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
• HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies
• Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects
• Sym2Real: Symbolic Dynamics with Residual Learning for Data-Efficient Adaptive Control
• Learning Legged MPC with Smooth Neural Surrogates
• Simulation Distillation: Pretraining World Models in Simulation for Rapid Real-World Adaptation
• On First-Order Meta-Learning Algorithms
• mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
• HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation

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