PACE: Sim-to-Real Transfer for Legged Robots

This repository will contain the official open-source release of PACE (Precise Adaptation through Continuous Evolution), a systematic approach for sim-to-real transfer of legged robots.
We are currently preparing the code for public release and will publish it here as soon as possible.

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Status

🚧 Work in progress — code will be made available shortly.

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License

This project will be released under the Apache 2.0 License.

Citation

If you find this work useful, please cite:

@article{bjelonic2025pace,
  title   = {Towards Bridging the Gap: Systematic Sim-to-Real Transfer for Diverse Legged Robots},
  author  = {Filip Bjelonic, Fabian Tischhauser, Marco Hutter},
  year    = {2025},
  note    = {to appear}
}