BIFROST: Bridging Invariant Feature Representation for Observation-space Sim2Real Transfer

arXiv:2607.01410v1 Announce Type: new Abstract: Sim2real transfer for robot policy learning suffers due to mismatch between simulation and reality. Existing methods typically address each gap in isolation through separate adaptation modules, which are composed or layered when both gaps coexist. Yet the basis for attempting sim2real in the first place is that there is shared structure between a task in simulation and reality, where equivalent actions from equivalent configurations produce equival...