Author

Clémence Grislain

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Preprint Sep 2026

A Sim-to-Real Integration Pipeline for Training and Deployment of Chunk-Based VLA Manipulation Policies

An open-source sim-to-real experimental protocol that addresses this bottleneck: expert trajectories generated in simulation are replayed open-loop on a real Franka FR3 setup, where the corresponding real visual and proprioceptive observations are recorded and converted into a format compatible with VLA training.

Mathilde Kappel, Clémence Grislain, Mohamed Chetouani et al. · 0 citations