Abstract: In robotic reinforcement learning, the Sim2Real gap remains a critical challenge. However, the impact of Static friction on Sim2Real has been underexplored. Conventional domain randomization ...

1.1 What is friction? Take this everyday example: when a coffee mug rests on a flat table, the kinetic frictional force is zero. There is no force trying to move the mug across the table, so there is ...

The upper figure shows the viscoelastic toy model proposed here, characterized by only six independent parameters. Surprisingly, this simple mechanical model produces complicated system dynamics, as ...