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arXiv · 2510.02538

A Recipe for Efficient Sim-to-Real Transfer in Manipulation with Online Imitation-Pretrained World Models

Yilin Wang·Shangzhe Li·Haoyi Niu·Jiawei Fu·Zhiao Huang·Weitong Zhang·Hao Su
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Abstract

We are interested in solving the problem of imitation learning with a limited amount of real-world expert data. Existing offline imitation methods often struggle with poor data coverage and severe performance degradation. We propose a solution that leverages robot simulators to achieve online imitation learning. Our sim-to-real framework is based on world models and combines online imitation pretraining with offline finetuning. By leveraging online interactions, our approach alleviates the data coverage limitations of offline methods, leading to improved robustness and reduced performance degradation during finetuning. It also enhances generalization during domain transfer. Our empirical results demonstrate its effectiveness, improving success rates by at least 31.7% in sim-to-sim transfer and 23.3% in sim-to-real transfer over existing offline imitation learning baselines.

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Yilin Wang, Shangzhe Li, Haoyi Niu, Jiawei Fu, Zhiao Huang, Weitong Zhang, Hao Su. 2026-09-18. A Recipe for Efficient Sim-to-Real Transfer in Manipulation with Online Imitation-Pretrained World Models. https://arxiv.org/abs/2510.02538

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