Domain Randomization for Sim2Real Transfer

Lilian Weng · 7 years ago

Domain randomization addresses the reality gap in robotics by training models in simulators with randomized physical parameters so they generalize to real-world conditions. The technique varies friction, damping, mass, and other physical properties during simulation training to reduce sensitivity to parameter mismatches between simulator and real robots. This approach enables robots trained entirely in simulation to function on physical systems without additional real-world fine-tuning.