Formatting 500Hz real-world GRF telemetry for legged RL in Isaac Lab?

[DavidSaj]

When training bipedal RL policies for real-world terrain, how valuable is real-world human foot-ground contact telemetry (500Hz+ GRF and Center-of-Pressure trajectories) across slippery/unstructured surfaces, and does walking vs. dynamic movement data serve different roles in bridging the sim-to-real gap?