{"id":"https://openalex.org/W3212580602","doi":"https://doi.org/10.1109/access.2021.3126658","title":"Crossing the Reality Gap: A Survey on Sim-to-Real Transferability of Robot Controllers in Reinforcement Learning","display_name":"Crossing the Reality Gap: A Survey on Sim-to-Real Transferability of Robot Controllers in Reinforcement Learning","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3212580602","doi":"https://doi.org/10.1109/access.2021.3126658","mag":"3212580602"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3126658","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3126658","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2021.3126658","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031170813","display_name":"Erica Salvato","orcid":"https://orcid.org/0000-0003-3815-6652"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Erica Salvato","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy","Department of Engineering and Architecture, University of Trieste, Trieste, Italy,"],"raw_orcid":"https://orcid.org/0000-0003-3815-6652","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]},{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy,","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000999290","display_name":"Gianfranco Fenu","orcid":"https://orcid.org/0000-0003-0867-8388"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianfranco Fenu","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy","Department of Engineering and Architecture, University of Trieste, Trieste, Italy,"],"raw_orcid":"https://orcid.org/0000-0003-0867-8388","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]},{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy,","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074055647","display_name":"Eric Medvet","orcid":"https://orcid.org/0000-0001-5652-2113"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eric Medvet","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy","Department of Engineering and Architecture, University of Trieste, Trieste, Italy,"],"raw_orcid":"https://orcid.org/0000-0001-5652-2113","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]},{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy,","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058996630","display_name":"Felice Andrea Pellegrino","orcid":"https://orcid.org/0000-0002-4423-1666"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Felice Andrea Pellegrino","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy","Department of Engineering and Architecture, University of Trieste, Trieste, Italy,"],"raw_orcid":"https://orcid.org/0000-0002-4423-1666","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]},{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy,","institution_ids":["https://openalex.org/I142444530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I142444530"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":13.392,"has_fulltext":true,"cited_by_count":181,"citation_normalized_percentile":{"value":0.99065932,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"153171","last_page":"153187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.98089998960495,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8105926513671875},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8006066083908081},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.744704008102417},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6299358010292053},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6104366779327393},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5987837910652161},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4797343313694},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44266873598098755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4349452257156372},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.42657727003097534},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35019609332084656},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3465089201927185},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34435904026031494},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09461355209350586}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8105926513671875},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8006066083908081},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.744704008102417},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6299358010292053},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6104366779327393},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5987837910652161},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4797343313694},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44266873598098755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4349452257156372},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.42657727003097534},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35019609332084656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3465089201927185},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34435904026031494},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09461355209350586},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3126658","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3126658","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:arts.units.it:11368/2998556","is_oa":true,"landing_page_url":"http://hdl.handle.net/11368/2998556","pdf_url":"https://arts.units.it/bitstream/11368/2998556/5/Crossing_the_Reality_Gap_A_Survey_on_Sim-to-Real_Transferability_of_Robot_Controllers_in_Reinforcement_Learning.pdf","source":{"id":"https://openalex.org/S4306400480","display_name":"ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142444530","host_organization_name":"University of Trieste","host_organization_lineage":["https://openalex.org/I142444530"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:9f38aed8c13146a8bbfadadf1817d86b","is_oa":true,"landing_page_url":"https://doaj.org/article/9f38aed8c13146a8bbfadadf1817d86b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 153171-153187 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3126658","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3126658","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":172,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W592312525","https://openalex.org/W755046805","https://openalex.org/W1481659984","https://openalex.org/W1493656486","https://openalex.org/W1501416815","https://openalex.org/W1520597402","https://openalex.org/W1534712813","https://openalex.org/W1540685400","https://openalex.org/W1542941925","https://openalex.org/W1626155273","https://openalex.org/W1673923490","https://openalex.org/W1755458803","https://openalex.org/W1771410628","https://openalex.org/W1945616565","https://openalex.org/W1949804828","https://openalex.org/W1965336746","https://openalex.org/W1966784014","https://openalex.org/W1972197206","https://openalex.org/W1975318316","https://openalex.org/W1977655452","https://openalex.org/W1978161072","https://openalex.org/W1988071341","https://openalex.org/W1990277704","https://openalex.org/W1996579288","https://openalex.org/W2012587148","https://openalex.org/W2018705428","https://openalex.org/W2033110403","https://openalex.org/W2034600737","https://openalex.org/W2042106612","https://openalex.org/W2048226872","https://openalex.org/W2056653303","https://openalex.org/W2097381042","https://openalex.org/W2099471712","https://openalex.org/W2105143952","https://openalex.org/W2111956227","https://openalex.org/W2112483970","https://openalex.org/W2119070716","https://openalex.org/W2120478326","https://openalex.org/W2121863487","https://openalex.org/W2139053308","https://openalex.org/W2140135625","https://openalex.org/W2144658257","https://openalex.org/W2145339207","https://openalex.org/W2146398222","https://openalex.org/W2155968351","https://openalex.org/W2158782408","https://openalex.org/W2159096063","https://openalex.org/W2168921921","https://openalex.org/W2169209873","https://openalex.org/W2172968643","https://openalex.org/W2205975260","https://openalex.org/W2280163991","https://openalex.org/W2291973609","https://openalex.org/W2296073425","https://openalex.org/W2342662072","https://openalex.org/W2426267443","https://openalex.org/W2530944449","https://openalex.org/W2534269850","https://openalex.org/W2554830522","https://openalex.org/W2595845486","https://openalex.org/W2602963933","https://openalex.org/W2605102758","https://openalex.org/W2612129918","https://openalex.org/W2725320964","https://openalex.org/W2727037355","https://openalex.org/W2727840223","https://openalex.org/W2736601468","https://openalex.org/W2741122588","https://openalex.org/W2746553466","https://openalex.org/W2767050701","https://openalex.org/W2773691349","https://openalex.org/W2773867744","https://openalex.org/W2788904251","https://openalex.org/W2792514232","https://openalex.org/W2793955514","https://openalex.org/W2822752092","https://openalex.org/W2874746074","https://openalex.org/W2890728188","https://openalex.org/W2898758998","https://openalex.org/W2899460553","https://openalex.org/W2927642453","https://openalex.org/W2952629144","https://openalex.org/W2953127211","https://openalex.org/W2953431737","https://openalex.org/W2962957005","https://openalex.org/W2963073614","https://openalex.org/W2963184939","https://openalex.org/W2963207607","https://openalex.org/W2963390419","https://openalex.org/W2963484919","https://openalex.org/W2963504951","https://openalex.org/W2963544079","https://openalex.org/W2963641140","https://openalex.org/W2963938771","https://openalex.org/W2964001908","https://openalex.org/W2964043796","https://openalex.org/W2964084913","https://openalex.org/W2964153729","https://openalex.org/W2964310273","https://openalex.org/W2967292964","https://openalex.org/W2967452881","https://openalex.org/W2969201578","https://openalex.org/W2979869797","https://openalex.org/W2981030070","https://openalex.org/W2997896361","https://openalex.org/W2999228461","https://openalex.org/W3015606043","https://openalex.org/W3088310808","https://openalex.org/W3100789280","https://openalex.org/W3101442004","https://openalex.org/W3103559770","https://openalex.org/W3113139432","https://openalex.org/W3120778962","https://openalex.org/W3122928565","https://openalex.org/W3126300335","https://openalex.org/W3127556163","https://openalex.org/W3128433320","https://openalex.org/W3152331843","https://openalex.org/W3154227779","https://openalex.org/W3162157701","https://openalex.org/W3163842339","https://openalex.org/W3176539729","https://openalex.org/W3176880374","https://openalex.org/W3206620955","https://openalex.org/W3214643126","https://openalex.org/W3216747129","https://openalex.org/W4214717370","https://openalex.org/W4245108548","https://openalex.org/W4297686387","https://openalex.org/W4297818513","https://openalex.org/W4297918469","https://openalex.org/W4300799055","https://openalex.org/W4319988532","https://openalex.org/W4320013936","https://openalex.org/W6632235069","https://openalex.org/W6637162671","https://openalex.org/W6638018090","https://openalex.org/W6640425456","https://openalex.org/W6674600207","https://openalex.org/W6675708744","https://openalex.org/W6680657880","https://openalex.org/W6681404798","https://openalex.org/W6681781451","https://openalex.org/W6685331716","https://openalex.org/W6692846177","https://openalex.org/W6695011786","https://openalex.org/W6696783566","https://openalex.org/W6704571135","https://openalex.org/W6728367041","https://openalex.org/W6728925229","https://openalex.org/W6731094094","https://openalex.org/W6734827232","https://openalex.org/W6735677848","https://openalex.org/W6740023956","https://openalex.org/W6740801417","https://openalex.org/W6741002519","https://openalex.org/W6742103744","https://openalex.org/W6742461812","https://openalex.org/W6746722099","https://openalex.org/W6748600884","https://openalex.org/W6749146968","https://openalex.org/W6752818329","https://openalex.org/W6753069059","https://openalex.org/W6755890616","https://openalex.org/W6756581457","https://openalex.org/W6768791272","https://openalex.org/W6776331362","https://openalex.org/W6780559895","https://openalex.org/W6785784373","https://openalex.org/W6789905126","https://openalex.org/W6849896277"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2930863966","https://openalex.org/W2126211886","https://openalex.org/W3153786280","https://openalex.org/W3127551068","https://openalex.org/W2165180011","https://openalex.org/W3165944253","https://openalex.org/W4220829754","https://openalex.org/W2351343564"],"abstract_inverted_index":{"The":[0,113,138],"growing":[1],"demand":[2],"for":[3],"robots":[4,22,42],"able":[5],"to":[6,48,56,61,147,152,166,173],"act":[7],"autonomously":[8],"in":[9,21,36,86,111,122,133,157],"complex":[10],"scenarios":[11],"has":[12],"widely":[13],"accelerated":[14],"the":[15,26,81,90,104,108,119,125,128,141,149,154,158],"introduction":[16],"of":[17,32,73,77,96,107,140,160],"Reinforcement":[18],"Learning":[19],"(RL)":[20],"control":[23,162],"applications.":[24],"However,":[25],"trial":[27],"and":[28,60,76,98,171],"error":[29],"intrinsic":[30],"nature":[31],"RL":[33,58],"may":[34,46],"result":[35,116],"long":[37],"training":[38,59],"time":[39],"on":[40,127],"real":[41,99,109,129],"and,":[43],"moreover,":[44],"it":[45],"lead":[47],"dangerous":[49],"outcomes.":[50],"While":[51],"simulators":[52],"are":[53,66],"useful":[54],"tools":[55],"accelerate":[57],"ensure":[62],"safety,":[63],"they":[64],"often":[65],"provided":[67],"only":[68],"with":[69,80,163],"an":[70,134],"approximated":[71],"model":[72],"robot":[74,161],"dynamics":[75],"its":[78],"interaction":[79],"surrounding":[82],"environment,":[83],"thus":[84,131],"resulting":[85,132],"what":[87],"is":[88,144],"called":[89],"reality":[91],"gap":[92],"(RG):":[93],"a":[94],"mismatch":[95],"simulated":[97],"control-law":[100],"performances":[101],"caused":[102],"by":[103],"inaccurate":[105],"representation":[106],"environment":[110],"simulation.":[112],"most":[114],"undesirable":[115],"occurs":[117],"when":[118],"controller":[120],"learnt":[121],"simulation":[123],"fails":[124],"task":[126],"robot,":[130],"unsuccessful":[135],"sim-to-real":[136],"transfer.":[137],"goal":[139],"present":[142],"survey":[143],"threefold:":[145],"(1)":[146],"identify":[148],"main":[150],"approaches":[151],"face":[153],"RG":[155],"problem":[156],"context":[159],"RL,":[164],"(2)":[165],"point":[167],"out":[168],"their":[169],"shortcomings,":[170],"(3)":[172],"outline":[174],"new":[175],"potential":[176],"research":[177],"areas.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":27},{"year":2025,"cited_by_count":51},{"year":2024,"cited_by_count":50},{"year":2023,"cited_by_count":38},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2021-11-22T00:00:00"}
