SimDist pretrains world models in simulation and adapts them to real-world robots by updating only the latent dynamics model, enabling rapid improvement on contact-rich tasks where prior methods fail.
Overcoming the sim-to- real gap: Leveraging simulation to learn to explore for real-world rl.Advances in Neural Information Processing Systems, 37:78715–78765, 2024
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Simulation Distillation: Pretraining World Models in Simulation for Rapid Real-World Adaptation
SimDist pretrains world models in simulation and adapts them to real-world robots by updating only the latent dynamics model, enabling rapid improvement on contact-rich tasks where prior methods fail.