2 papers
cs.RO2026
Trajectory-based actuator identification via differentiable simulation
Vyacheslav Kovalev, Ekaterina Chaikovskaia, Egor Davydenko +1
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated t…
cs.RO2025
Achieving Precise and Reliable Locomotion with Differentiable Simulation-Based System Identification
Vyacheslav Kovalev, Ekaterina Chaikovskaia, Egor Davydenko +1
Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we pre…