外观
论文arXiv 2609.288781 个月前
通过闭环系统建模实现在线 Sim-to-Real 自适应
原文链接：Online Sim-to-Real Adaptation via Closed-Loop System Modeling（arXiv 2609.28878 · 发布日期：2026-09-24）
Online Sim-to-Real Adaptation via Closed-Loop System Modeling
OSRAM通过闭环系统建模调整现有控制器参考命令，并在仿真与硬件的双足速度跟踪和loco-manipulation中验证。
核心要点
- Sim-to-Real控制器虽可稳定运行，仍可能因残余动力学失配导致跟踪精度下降。
- OSRAM将机器人与策略视为统一闭环动力系统，直接从跟踪观测学习命令-响应行为。
- 闭环动力学模型在随机动力学仿真中元训练，部署后用有限真实交互快速微调。
- 仿真和硬件结果显示，其在未见动力学下提升预测与跟踪，并减少残余误差。
验证范围与局限：验证范围为仿真和硬件上的双足速度跟踪与loco-manipulation任务，涉及不同控制目标和硬件配置。
英文摘要 (Abstract)
Sim-to-real transfer has made substantial progress, but can still produce controllers that remain stable and functional on hardware while suffering from degraded tracking accuracy due to residual dynamics mismatch. Correcting these errors typically requires identifying the underlying system dynamics, adapting the control policy, or returning to simulation for additional training and finetuning, all of which can require substantial data and computation. We propose OSRAM (Online Sim-to-Real Adaptation via Closed-Loop System Modeling), a framework that instead adapts the reference commands provided to an existing controller. OSRAM treats the deployed robot and its policy as a unified closed-loop dynamical system and learns its task-level command-response behavior directly from tracking observations. A closed-loop dynamics model is meta-trained across randomized dynamics in simulation and rapidly finetuned after deployment using limited real-world interaction. The adapted model is then used to optimize future reference commands while leaving the underlying control policy unchanged. We evaluate OSRAM on bipedal velocity tracking and loco-manipulation in simulation and on hardware. Results show that closed-loop modeling improves prediction and tracking accuracy under unseen dynamics, while online reference adaptation reduces residual sim-to-real tracking errors across different control objectives and hardware configurations. These results demonstrate that adapting the behavior of the robot-policy closed loop provides a practical alternative to finetuning the policy or identifying the full physical dynamics for sim-to-real transfer. More information can be found at http://generalroboticslab.com/OSRAM.
作者：Yuhao Huang, Samuel A. Moore, Boyuan Chen
来源
本页事实对应的公开页面，以原文为准。