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This work was supported by the Federal Ministry of Education and Research Germany under the project iCARus (13GW0657B).T. Krau, J. Mandlmaier, F. Heieck are with Institute of Production and Informatics, 87527 Sonthofen, Germany [tatjana.krau,jorge.mandlmaier,frieder.heieck]@hs-kempten.de
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Physics-based dynamics models can make or break sim-to-real reinforcement learning, boosting real-world success by 50% in industrial control tasks where simplified models fail.