PACE Documentation¶
Welcome to the documentation for PACE (Precise Adaptation through Continuous Evolution), a systematic sim-to-real pipeline for diverse legged robots.
PACE provides unified tools for accurate actuator modeling, automatic system identification for seamless deployment of RL controllers to real hardware.
Use this documentation to get started, explore examples, and understand how to adapt PACE to your own robot platforms.
Documentation structure¶
- Getting started – prerequisites, installation, and your first steps with PACE.
- Examples – minimal scripts demonstrating parameter identification and deployment on the public version of ANYmal.
- Guides – higher-level guides that walk through typical workflows:
- Basics – step-by-step setup of your own PACE environment.
- Advanced – extending the framework with custom objectives, parameters, and optimization logic.
- Best practices – practical recommendations, guidelines, and common pitfalls.
Additional sections such as Concepts, API Reference, and Development are planned and will be added as the PACE framework evolves.
How to cite¶
If you use PACE in your research, please cite our paper:
F. Bjelonic, F. Tischhauser, and M. Hutter,
Towards Bridging the Gap: Systematic Sim-to-Real Transfer for Diverse Legged Robots, arXiv:2509.06342, 2025.
@article{bjelonic2025towards,
title = {Towards Bridging the Gap: Systematic Sim-to-Real Transfer for Diverse Legged Robots},
author = {Bjelonic, Filip and Tischhauser, Fabian and Hutter, Marco},
journal = {arXiv preprint arXiv:2509.06342},
year = {2025},
eprint = {2509.06342},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
}