【第181期】ASAP：两阶段框架弥合仿真与现实物理之间的差距
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ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Summary
The provided research paper introduces ASAP, a novel two-stage framework designed to bridge the gap between simulated and real-world physics for humanoid robots, enabling them to perform complex, agile movements. The first stage involves pre-training control policies in simulation using human motion data. The second stage deploys these policies in the real world to collect data and train a "delta action model" that learns to compensate for…
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