Preprint Open access
Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper
Torque observations in reinforcement learning remain challenging because simulated and measured torque differ in scale, offset, and noise. In this paper, we propose a simple torque observation alignment method for robots with direct-drive (DD) actuators, in which motor current maps linearly to joint torque through a mo …