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Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop

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arxiv 2012.03806 v1 pith:K54JQ64E submitted 2020-12-07 cs.RO cs.AIcs.CVcs.LG

Sebastian Höfer , Kostas Bekris , Ankur Handa , Juan Camilo Gamboa , Florian Golemo , Melissa Mozifian , Chris Atkeson , Dieter Fox
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Ken Goldberg John Leonard C. Karen Liu Jan Peters Shuran Song Peter Welinder Martha White
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classification cs.ROcs.AIcs.CVcs.LG
keywords roboticsworkshopreportsim2realproblemsabstractsansweringarea
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This report presents the debates, posters, and discussions of the Sim2Real workshop held in conjunction with the 2020 edition of the "Robotics: Science and System" conference. Twelve leaders of the field took competing debate positions on the definition, viability, and importance of transferring skills from simulation to the real world in the context of robotics problems. The debaters also joined a large panel discussion, answering audience questions and outlining the future of Sim2Real in robotics. Furthermore, we invited extended abstracts to this workshop which are summarized in this report. Based on the workshop, this report concludes with directions for practitioners exploiting this technology and for researchers further exploring open problems in this area.

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  1. Abstract Sim2Real through Approximate Information States

    cs.RO 2026-04 unverdicted novelty 6.0 of 10

    Abstract simulators can be grounded to real tasks by making their dynamics history-dependent and correcting them with real data, enabling RL policy transfer.

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