Visual Matching to mitigate Real-to-Sim Visual Gap
backgrounds; and (2) texture matching, which involves projecting real object textures onto simulation assets and tuning
robot arm colors using real videos.
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System Identification to mitigate Real-to-Sim Control Gap
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+ The goal of mitigating the control gap between simulated and real-world environments is to ensure that policy actions
+ executed in simulation yields comparable effects on the robot’s end-effector as those observed when executed on the real
+ robot. We perform system identification (SysID) for closing the control gap between real and simulated environments on a small sample of trajectories from the real world dataset.
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