SUDO R1

Sudo R1 Sim2Real Robotics Transfer Lab

Curriculum:

■ Simulated Reference Model

■ Deployed Real Physical Agent

Click & drag torso or limbs to exert force

Disturbance Force:

Physics Step: 60 Hz

Sim2Real Telemetry Dynamic Perturbation

Transfer Success

92.4%

Reality Gap Index

0.082

Max Joint Error

4.6°

Recovery Torque

34.2 Nm

Robust Real-World Transfer Verified

Phase-Space Trajectory (θ vs θ̇)

Domain Randomization Bounds

Friction Min/Max 0.30 - 1.10

Torso Mass Uncertainty ±25%

Actuator Latency 35 ms

IMU Sensor Noise (σ) 0.04 rad

External Impulse 45 N

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