Sim-to-Real Gap Forensics

Key Insight

The sim-to-real gap represents the discrepancies in dynamics, sensing, and actuation between a simulated environment and the physical world. Sim-to-real forensics is the systematic process of diagnosing why a policy that succeeds in simulation fails on physical hardware. By isolating whether the failure stems from unmodeled friction, latency, sensor noise, or visual differences, developers can target their domain randomization or system identification efforts to close the gap.