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cs.RO2025
TARC: Time-Adaptive Robotic Control
Arnav Sukhija, Lenart Treven, Jin Cheng +3
Fixed-frequency control in robotics imposes a trade-off between the efficiency of low-frequency control and the robustness of high-frequency control, a limitation not seen in adapt…
cs.RO2025
SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer
Yarden As, Chengrui Qu, Benjamin Unger +6
Deploying reinforcement learning (RL) safely in the real world is challenging, as policies trained in simulators must face the inevitable sim-to-real gap. Robust safe RL techniques…
cs.RO2024
Bridging the Sim-to-Real Gap with Bayesian Inference
Jonas Rothfuss, Bhavya Sukhija, Lenart Treven +3
We present SIM-FSVGD for learning robot dynamics from data. As opposed to traditional methods, SIM-FSVGD leverages low-fidelity physical priors, e.g., in the form of simulators, to…