Sim-to-Real Transfer
Training in simulation, deploying on real robots — bridging the reality gap.
What Is Sim-to-Real?
Sim-to-real transfer is the process of training robot policies in simulation (e.g., MuJoCo, Isaac Sim) and deploying them on physical hardware. The "reality gap" — differences in physics, sensing, and actuation — often causes policies to fail when transferred.
Techniques
- Domain Randomization — Vary simulation parameters (lighting, textures, friction) to improve robustness.
- Domain Adaptation — Fine-tune on real data after sim pre-training.
- Real-World Data — Hybrid: sim for scale, real for fidelity. Often the most reliable.
Related Resources
- Why Real-World Data Beats Simulation Alone
- Data Services — Real-world data for sim-to-real fine-tuning
- Simulation Tools — MuJoCo, Isaac Sim, RoboSuite