A Brief Survey of Sim2Real Methods for Robot Learning

Simulation has been crucial for robotics research development almost from the beginning of its existence. While simulation has been widely used for education, testing, and prototyping, only very recently the robotics community has attempted transferring behaviors learned in simulation to the real world (this process is usually referred to as Sim2Real). Those attempts have opened-up a novel research direction that has produced some exciting results that were previously thought impossible to achieve. In this paper, we attempt to give a quick overview of the most promising Simulation-To-Reality (Sim2Real) methods, results and directions.