仿真到真实迁移

弥合仿真与现实的差距：域随机化、系统辨识、域适应和成功的仿真到真实迁移流水线。

Learning Objectives

1. The Sim-to-Real Gap

1.1 Reality Gap Sources

1.2 Why Policies Fail in Real World

2. Domain Randomization

2.1 Visual Randomization

2.2 Dynamics Randomization

2.3 Implementation in Isaac Lab / MuJoCo

3. System Identification

3.1 Motor Parameters

3.2 Friction & Contact Properties

3.3 Automated SysID

4. Domain Adaptation

4.1 Feature Alignment

4.2 Adversarial Methods

5. Successful Pipelines

5.1 OpenAI Rubik's Cube

5.2 DeepLoco / Locomotion

5.3 Robotic Manipulation

6. Fine-Tuning in Real World

7. Best Practices Checklist

Exercises

References