Sim-and-real co-training for robot policies is driven primarily by balanced cross-domain representation alignment and secondarily by domain-dependent action reweighting.
Another line of work (Xu et al., 2025; Lepert et al., 2025b;a) forces input data distribution alignment via image editing
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A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies
Sim-and-real co-training for robot policies is driven primarily by balanced cross-domain representation alignment and secondarily by domain-dependent action reweighting.