#sim-to-real

Humanoid Robots Walking on Sand: Fine-Tuning Policies via Scanned Real Terrain to Solve Sim-to-Real Physics Calibration Challenges

Developer scans real sand with iPhone LiDAR and fine-tunes Unitree G1 humanoid policy; stock policy fell, fine-tuned stood. Analysis of sim-to-real physics calibration challenges for deformable terrain.