Sim-to-Real Transfer

The Reality Gap

Differences between simulation and reality: - Physics model inaccuracies - Sensor noise and delays - Actuator nonlinearities

Domain Randomization

Randomize simulation parameters during training:

sim_params = {
    'gravity': random.uniform(9.7, 9.81),
    'friction': random.uniform(0.5, 1.5),
    'sensor_noise': random.uniform(0.01, 0.1)
}

System Identification

Learn real robot parameters: 1. Collect real-world data 2. Fit simulation parameters 3. Refine model

Progressive Fine-tuning

1. Train in simulation
2. Fine-tune on real robot (limited data)
3. Progressive domain adaptation

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