A PPO policy trained in Isaac Sim with domain randomization balances and steers a bicycle in sim (99.9% success) and transfers to real hardware.
Dynamic vehicle drifting with nonlinear mpc and a fused kinematic-dynamic bicycle model
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CycleRL: Sim-to-Real Deep Reinforcement Learning for Robust Autonomous Bicycle Control
A PPO policy trained in Isaac Sim with domain randomization balances and steers a bicycle in sim (99.9% success) and transfers to real hardware.