KlaskTron-IL: A Contact-Rich Adversarial Imitation Learning Benchmark with a Validated Sim-to-Real Bridge

Nicklas Sohm, Aswin Ramachandran, Raffaello D'Andrea

KlaskTron is an open-hardware physical platform for two-player adversarial reinforcement learning, with a learned actuator model that supports zero-shot sim-to-real transfer of tra…