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.
On the adaptive control of robot manipulators.The international journal of robotics research, 6(3):49–59
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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.