TAM is a policy-agnostic torque adaptation module trained in randomized simulation that improves zero-shot real-robot performance on dynamic manipulation tasks compared to system identification and RMA baselines.
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TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
TAM is a policy-agnostic torque adaptation module trained in randomized simulation that improves zero-shot real-robot performance on dynamic manipulation tasks compared to system identification and RMA baselines.