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Main Authors:	Wu, Peilin, Xie, Weiji, Cao, Jiahang, Lai, Hang, Zhang, Weinan
Format:	Preprint
Published:	2024
Subjects:	Robotics Machine Learning
Online Access:	https://arxiv.org/abs/2409.17992
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World Model-based Perception for Visual Legged Locomotion
by: Lai, Hang, et al.
Published: (2024)

An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation
by: Shi, Lu, et al.
Published: (2025)

PALo: Learning Posture-Aware Locomotion for Quadruped Robots
by: Miao, Xiangyu, et al.
Published: (2025)

MoSA: Motion-constrained Stress Adaptation for Mitigating Real-to-Sim Gap in Continuum Dynamics via Learning Residual Anisotropy
by: Wang, Jiaxu, et al.
Published: (2026)

PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies
by: Jain, Arhan, et al.
Published: (2025)

Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models
by: He, Zhanpeng, et al.
Published: (2025)

Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning
by: Xie, Weiji, et al.
Published: (2025)

Sim-to-Real Transfer for Mobile Robots with Reinforcement Learning: from NVIDIA Isaac Sim to Gazebo and Real ROS 2 Robots
by: Salimpour, Sahar, et al.
Published: (2025)

From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment
by: Wu, Yilin, et al.
Published: (2025)

A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies
by: Lei, Yu, et al.
Published: (2026)

TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
by: Jiang, Yunfan, et al.
Published: (2024)

RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrations
by: Chen, Jingxiao, et al.
Published: (2025)

Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
by: Zhang, Kaifeng, et al.
Published: (2025)

On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer
by: Aljalbout, Elie, et al.
Published: (2023)

What Matters in Learning A Zero-Shot Sim-to-Real RL Policy for Quadrotor Control? A Comprehensive Study
by: Chen, Jiayu, et al.
Published: (2024)

Closed-Loop Long-Horizon Robotic Planning via Equilibrium Sequence Modeling
by: Li, Jinghan, et al.
Published: (2024)

Continual Driving Policy Optimization with Closed-Loop Individualized Curricula
by: Niu, Haoyi, et al.
Published: (2023)

Sim-Anchored Learning for On-the-Fly Adaptation
by: Mabsout, Bassel El, et al.
Published: (2023)

Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
by: Schneider, Jan, et al.
Published: (2026)

RAFL: Generalizable Sim-to-Real of Soft Robots with Residual Acceleration Field Learning
by: Cho, Dong Heon, et al.
Published: (2026)

DiAReL: Reinforcement Learning with Disturbance Awareness for Robust Sim2Real Policy Transfer in Robot Control
by: Malmir, Mohammadhossein, et al.
Published: (2023)

Neural Fidelity Calibration for Informative Sim-to-Real Adaptation
by: Yu, Youwei, et al.
Published: (2025)

Dual Action Policy for Robust Sim-to-Real Reinforcement Learning
by: Terence, Ng Wen Zheng, et al.
Published: (2024)

Post-Convergence Sim-to-Real Policy Transfer: A Principled Alternative to Cherry-Picking
by: Khor, Dylan, et al.
Published: (2025)

E2HiL: Entropy-Guided Sample Selection for Efficient Real-World Human-in-the-Loop Reinforcement Learning
by: Deng, Haoyuan, et al.
Published: (2026)

Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation
by: Maddukuri, Abhiram, et al.
Published: (2025)

Compose Your Policies! Improving Diffusion-based or Flow-based Robot Policies via Test-time Distribution-level Composition
by: Cao, Jiahang, et al.
Published: (2025)

DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation
by: Zeng, Zijian, et al.
Published: (2026)

An Open-source Sim2Real Approach for Sensor-independent Robot Navigation in a Grid
by: Abrar, Murad Mehrab, et al.
Published: (2024)

T2S: Tokenized Skill Scaling for Lifelong Imitation Learning
by: Zhang, Hongquan, et al.
Published: (2025)

RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Robots
by: Munn, Humphrey, et al.
Published: (2026)

X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
by: Dan, Prithwish, et al.
Published: (2025)

GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs
by: Hua, Pu, et al.
Published: (2024)

A Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven Deformable Linear Object Manipulation
by: Kamaras, Georgios, et al.
Published: (2025)

Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds
by: Liu, Dikai, et al.
Published: (2025)

Domain-Adaptive Communication-Rate Optimization for Sim-to-Real Humanoid-Robot Wireless XR Teleoperation
by: Xu, Caolu, et al.
Published: (2026)

Bridging the Sim-to-Real Gap with Bayesian Inference
by: Rothfuss, Jonas, et al.
Published: (2024)

Squint: Fast Visual Reinforcement Learning for Sim-to-Real Robotics
by: Almuzairee, Abdulaziz, et al.
Published: (2026)

Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation
by: Colan, Jacinto, et al.
Published: (2024)

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// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

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