PEAOM: Better Sim-to-Real Table Tennis by Modeling Camera Errors
Why does a table-tennis robot that succeeds in simulation miss the ball on hardware? This episode explains how PEAOM models the measurement process that turns a physical trajectory into a controller's estimated state. We cover three questions: how calibration-derived distortions enter before trajectory fitting, why systematic camera bias differs from independent Gaussian jitter, and what the reported improvement in physical return success actually measures. The authors report an increase from 56.4% to 86.0% without real-world policy fine-tuning…
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