AI RESEARCH
Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
arXiv CS.LG
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ArXi:2604.09487v1 Announce Type: cross Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice due to inherent nonlinearities, friction, and hysteresis, which complicate modeling and control. So far, these challenges have hindered policy transfer from simulation to real systems.