Tips for Sim-to-Real#

In summary, sim-to-real is hard, tedious and time consuming. There’s no simple solution to this complex challenge, but here are some tips to keep in mind that will help you as you get started on this journey.

Develop a Deep Technical Understanding#

You need a deep understanding of multiple technical domains to succeed with sim-to-real transfer. This includes physics, actuation mechanisms, signals and systems, and control theory. This foundational knowledge helps you make informed decisions throughout the process.

Understand Your Current System Well#

Understanding your system thoroughly is crucial. This means:

  • Setting up dedicated test stands and load cells for precise measurements

  • Recording all experimental data systematically

  • Analyzing signals of interest to determine appropriate noise levels and perturbations

  • Using collected data to guide decision-making and system improvements

Don’t make assumptions.#

In reinforcement learning, it’s important to avoid making broad generalizations. Success in one specific problem doesn’t guarantee success in another. Each situation requires its own careful analysis and approach.

Start From the Bottom#

Start with a minimal setup and build gradually:

  • Begin with the smallest necessary set of randomizations

  • Observe system behavior carefully

  • Collect and analyze data at each step

  • Add complexity incrementally based on evidence!

Warning

First deployments are hard - be very careful.

The initial deployment phase requires extreme caution. When transferring a system from simulation to reality for the first time, unexpected behaviors can occur. Take extra precautions during these critical moments to prevent potential accidents or damage.

This methodical approach helps avoid the pitfall of creating overly generalized policies that sacrifice performance. By building from the ground up, you can develop an effective solution without unnecessary complications.