Bridging the gap between simulation and reality is paramount.
- Domain Randomization: Expose agents to wide variations to build robustness.
- System Identification: Calibrate physics parameters by measuring real-world behavior and updating simulations accordingly.
- Fine-Tuning: After training in simulation, conduct real-world fine-tuning with safe exploration methods.
- Sensor Calibration: Align simulated sensors with real hardware by matching noise distributions and latency profiles.
- Real-to-Sim Feedback: Log real-world failures and replicate them in simulation to augment training data.
Document transfer experiments meticulously—record training regimes, randomization settings, and success rates.