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摘要 / Abstract
This paper investigates Sim-to-Real generalization for dexterous manipulation tasks using Vision-Language-Action (VLA) models. The study empirically examines key factors affecting transfer from simulation to real-world deployment, including multi-level domain randomization, photorealistic rendering, physics-realistic modeling, and reinforcement learning updates. A comprehensive evaluation protocol is designed to quantify real-world manipulation performance, providing insights for developing generalist robot control policies that can effectively bridge the simulation-to-reality gap in dexterous manipulation scenarios.
本文研究了基于Vision-Language-Action (VLA)模型的灵巧操作任务Sim-to-Real泛化问题。实验考察了多层次域随机化、逼真渲染、物理建模和强化学习更新等影响仿真到现实迁移的关键因素。设计了一套全面的评估协议来量化现实世界的操作性能,为开发能有效弥合Sim-to-Real差距的通用机器人控制策略提供了见解。
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