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cs.RO2026
World Translation: Minimizing Sim-to-Real Gap with Backward Dynamics Extraction and Unpaired Domain Translation
Xinchen Yao, Leixin Chang, Hua Chen
The gap between simulation and reality remains a fundamental challenge in deploying simulation-trained robotic policies in the real world. Real-to-sim methods narrow this gap from…
cs.RO2026
Where-to-Learn: Analytical Policy Gradient Directed Exploration for On-Policy Robotic Reinforcement Learning
Leixin Chang, Xinchen Yao, Ben Liu +2
On-policy reinforcement learning (RL) algorithms have demonstrated great potential in robotic control, where effective exploration is crucial for efficient and high-quality policy…