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20222026
most citedWhat Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery

4 citations · 7 across the 5 of their papers we have counts for

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2 papers · 1 filter

cs.RO2024

Dynamics as Prompts: In-Context Learning for Sim-to-Real System Identifications

Xilun Zhang, Shiqi Liu, Peide Huang +4

Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization o…

cs.RO2024

Learning Robust Policies via Interpretable Hamilton-Jacobi Reachability-Guided Disturbances

Hanyang Hu, Xilun Zhang, Xubo Lyu +1

Deep Reinforcement Learning (RL) has shown remarkable success in robotics with complex and heterogeneous dynamics. However, its vulnerability to unknown disturbances and adversaria…