Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks

arXiv:2604.09487 · cs.RO, cs.LG · Submitted 2026-04-10 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-04-10

Updated: 2026-10-15

Comments: Project page: https://webdav.tuebingen.mpg.de/genan/

Project page: https://webdav.tuebingen.mpg.de/genan

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes

Sources

• Learning Sim-to-Real Humanoid Locomotion in 15 Minutes
• HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning
• Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input
• Tendon Force Modeling for Sim2Real Transfer of Reinforcement Learning Policies for Tendon-Driven Robots
• Proximal Policy Optimization Algorithms

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