Preprint Open access
Tackling Sim-to-Real Mismatch Through Sampling-Based Disturbance Observers: From Analytical Models to Learned World Models
Robotic controllers increasingly rely on analytical models, simulators, cost-query interfaces, and learned world models. However, physical deployment can deviate from nominal assumptions, and additional disturbances may arise even when the model itself is accurate. In control systems, disturbance observers (DOB) are wi …