DiffCoTune: Differentiable Co-Tuning for Cross-domain Robot Control
Fuente:
arXiv
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| Main Authors: | Krishna, Lokesh, Cheng, Sheng, Li, Junheng, Hovakimyan, Naira, Nguyen, Quan |
|---|---|
| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | |
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