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--> [Submitted on 6 Aug 2026] Title:LyEvO: Lyapunov-Guided Evolutionary Optimization for Safe and Robust Sim-to-Real Policy Learning View a PDF of the paper titled LyEvO: Lyapunov-Guided Evolutionary Optimization for Safe and Robust Sim-to-Real Policy Learning, by Riccardo Curcio and 2 other authors View PDF HTML (experimental) Abstract:Training controllers that are safe and robust in simulation, and systematically assessing their readiness for real-world deployment, remain key challenges in sim-to-real transfer. To address this, we propose LyEvO, a physics-grounded framework that combines constrained Evolutionary Optimization and Statistical Model Checking (SMC)-based verification with Lyapunov-based stability analysis. Leveraging prior knowledge of the system dynamics, LyEvO uses Lyapunov analysis to compute an initial candidate stability region. An iterative loop then uses operational scenarios drawn from this region to jointly optimize and statistically verify a policy, and subsequently expands the region's boundaries based on the verification outcome. This integrated procedure provides a practical criterion for assessing deployment readiness. We evaluate LyEvO on Cartpole and 3D Quadrotor benchmarks through extensive simulations and targeted real-world experiments, demonstrating safe and robust sim-to-real transfer. Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG); Neural and Evolutionary Computing (cs.NE) Cite as: arXiv:2608.06481 [cs.RO] (or arXiv:2608.06481v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.06481 arXiv-issued DOI via DataCite (pending registration) Submission history From: Riccardo Curcio [view email] [v1] Thu, 6 Aug 2026 18:19:33 UTC (2,428 KB) Full-text links: Access Paper: View a PDF of the paper titled LyEvO: Lyapunov-Guided Evolutionary Optimization for Safe and Robust Sim-to-Real Policy Learning, by Riccardo Curcio and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.AI cs.LG cs.NE References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)