Yes, but the key is the RL simulation can be simple & unrealistic since it's used to train offline, not to plan & control live: a control systems approach like

Yes, but the key is the RL simulation can be simple & unrealistic since it's used to train offline, not to plan & control live: a control systems approach like the Boston Dynamics requires excellent physics modeling because that's the only way it can do planning or adjust for errors while controlling the actual robot in real time, while the NN is trained to cover many possible physics during development, and at runtime in an actual robot, it just shrugs and adapts to whatever crazy scenario it finds itself in.