Empirical comparison shows a clear sim-to-real gap in reset-free RL for agile driving: TD-MPC2 outperforms the MPPI baseline in the real world while SAC excels in simulation, and residual learning benefits simulation but does not transfer.
Wheeled lab: Modern sim2real for low-cost, open-source wheeled robotics
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Reset-Free Reinforcement Learning for Real-World Agile Driving: An Empirical Study
Empirical comparison shows a clear sim-to-real gap in reset-free RL for agile driving: TD-MPC2 outperforms the MPPI baseline in the real world while SAC excels in simulation, and residual learning benefits simulation but does not transfer.