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CMU和NVIDIA团队提出了一种全新的两阶段框架—— ASAP （Aligning Simulation and Real Physics），通过学习“残差动作模型”来弥补模拟与真实世界的动力学差异，从而让仿人机器人在真实环境中展现出前所未有的敏捷性和协调性！

ASAP（Aligning Simulation and Real Physics）是卡内基梅隆大学和英伟达联合推出的，用在解决仿人机器人模拟与现实动力学不匹配问题的两阶段框架。 ASAP基于预训练阶段在模拟环境中学习运动跟踪策略，用人类运动数据生成目标动作。

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