Three approaches to closing the sim2real gap on humanoids — and their trade-offs
KyleMorgenstein · x · 2026-09-11
Answering how to minimize the sim2real gap for a policy trained in sim on a humanoid, KyleMorgenstein lays out three general approaches:
- Domain randomization + history: hope the policy learns implicit system identification (bad because conservative);
- Actual system identification (bad because hard);
- Black-box optimizers like actuator nets and ASAP (bad because hard to debug).
A concise map of the current sim2real methodology landscape and its trade-offs.
Related event: Three Routes to Closing the Sim2Real Gap for Humanoid Robots(2 posts)→
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