SPI-Active identifies legged-robot physical parameters via massive parallel sampling and uses Fisher-information-optimal command sequences to collect informative real-world data, improving sim-to-real transfer on quadrupeds and a humanoid.
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Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
SPI-Active identifies legged-robot physical parameters via massive parallel sampling and uses Fisher-information-optimal command sequences to collect informative real-world data, improving sim-to-real transfer on quadrupeds and a humanoid.