Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper
cs.RO
Submitted: 2026-09-24
Updated: 2026-09-24
Terminology
Sources
- RobustDexGrasp: Robust Dexterous Grasping of General Objects
- DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots
- Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?
- Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
- Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
- Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
- Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoid
- Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation
- Proximal Policy Optimization Algorithms
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