mlsanityData to 14 Oct 2026

Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA

arXiv 2406.13700 ↗First posted 19 Jun 2024cs.ROcited by 0

On the map: Deep reinforcement learning methods → RL for robot locomotion and manipulation

Abstract (arXiv)

This paper employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed approach refines the parameters of COBRA's dynamical model such as coefficient of friction and actuator parameters using experimental and simulated data. Experimental validation on the hardware platform demonstrates the efficacy of the proposed approach, highlighting its potential to address sim-to-real gap in robot implementation.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in RL for robot locomotion and manipulation, one of 15 directions in Deep reinforcement learning methods. Builds on 20 of its 33 references that are in the map. First posted on arXiv 19 Jun 2024.

Builds on

20 of 33 references.

References · 20

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  3. 2018Residual Reinforcement Learning for Robot Controlcited by 274
  4. 2023ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robotscited by 152
  5. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 116
  6. 2019Sim-to-Real Transfer for Biped Locomotioncited by 56
  7. 2018Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segwaycited by 20
  8. 2021Fast Contact-Implicit Model-Predictive Controlcited by 16
  9. 2023DeepCPG Policies for Robot Locomotioncited by 4
  10. 2021Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robotcited by 2
  11. 2021Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotioncited by 2
  12. 2022Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG)cited by 2
8 more
  1. 2022A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platformcited by 2
  2. 2023Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robotcited by 2
  3. 2023Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Methodcited by 2
  4. 2020Learning to Locomote with Deep Neural-Network and CPG-based Control in a Soft Snake Robotcited by 1
  5. 2021Rough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robotcited by 1
  6. 2023How Strong a Kick Should be to Topple Northeastern's Tumbling Robot?cited by 1
  7. 2023Hierarchical RL-Guided Large-scale Navigation of a Snake Robotcited by 1
  8. 2023Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terraincited by 1

Built on by

Not cited yet.

Similar, not cited

Close in wording, no citation either way

  1. 2024Reinforcement Learning-Based Model Matching in COBRA, a Slithering Snake Robot
  2. 2026COBRA++: Enhanced COBRA Optimizer with Augmented Surrogate Pool and Reinforced Surrogate Selection
  3. 2025Achieving Precise and Reliable Locomotion with Differentiable Simulation-Based System Identification
  4. 2026Adaptive Undulatory Locomotion of Snake-like Robots in Dynamic Viscous Environments via Deep Reinforcement Learning
  5. 2025DiSA-IQL: Offline Reinforcement Learning for Robust Soft Robot Control under Distribution Shifts
  6. 2024Back-stepping Experience Replay with Application to Model-free Reinforcement Learning for a Soft Snake Robot
  7. 2021A Differentiable Newton-Euler Algorithm for Real-World Robotics
  8. 2025Efficient Model-Based Reinforcement Learning for Robot Control via Online Optimization