asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics

arXiv:2604.24916v2 Announce Type: replace-cross Abstract: We introduce asRoBallet, to the best of our knowledge, the first end-to-end reinforcement learning (RL) locomotion policy deployed on a humanoid ballbot hardware platform. Historically, ballbots have served as a canonical benchmark for...