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Informationally Decoupled Trajectory Design for Sim-to-Real System Identification

Shin, Sangwoo et al.
arXiv (All) · Papers
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robotics
Sampling-based system identification estimates physically meaningful parameters by tuning a simulator to reproduce the target system dynamics, providing an interpretable approach to improving sim-to-real transfer. Yet when the collected trajectories do not distinguish the effects of different parame
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