Overcoming the Sim-to-Real Gap: Leveraging Simulation to Learn to Explore for Real-World RL Andrew Wagenmaker

Such direct sim2real transfer is not guaranteed to succeed, however, and in cases where it fails, it is unclear how to best utilize the simulator. In this work, we show that in many regimes, while direct sim2real transfer may fail, we can utilize the simulator to learn a set of exploratory policies which enable efficient exploration in the real world.