Actuator reality shaping uses a 2DOF controller to align real actuator closed-loop behavior with idealized simulation reference dynamics, enabling zero-shot sim-to-real policy deployment across multiple robot platforms.
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Actuator Reality Shaping for Zero-Shot Sim-to-Real Robot Learning
Actuator reality shaping uses a 2DOF controller to align real actuator closed-loop behavior with idealized simulation reference dynamics, enabling zero-shot sim-to-real policy deployment across multiple robot platforms.