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cs.RO2025
Can Context Bridge the Reality Gap? Sim-to-Real Transfer of Context-Aware Policies
Marco Iannotta, Yuxuan Yang, Johannes A. Stork +2
Sim-to-real transfer remains a major challenge in reinforcement learning (RL) for robotics, as policies trained in simulation often fail to generalize to the real world due to disc…
cs.RO2025
ZipMPC: Compressed Context-Dependent MPC Cost via Imitation Learning
Rahel Rickenbach, Alan A. Lahoud, Erik Schaffernicht +2
The computational burden of model predictive control (MPC) limits its application on real-time systems, such as robots, and often requires the use of short prediction horizons. Thi…