@article{haloclosingsimtorealgapforheavyloadedhum,
  title = {HALO:Closing Sim-to-Real Gap for Heavy-loaded Humanoid Agile Motion Skills via Differentiable Simulation},
  author = {Xingyi Wang and Chenyun Zhang and Weiji Xie and Chao Yu and Wei Song and Chenjia Bai and Shiqiang Zhu},
  year = {2026},
  eprint = {2603.15084},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.15084},
}