{"id":"https://openalex.org/W4403446709","doi":"https://doi.org/10.1109/etfa61755.2024.10711073","title":"Sim-to-Real Transfer for a Robotics Task: Challenges and Lessons Learned","display_name":"Sim-to-Real Transfer for a Robotics Task: Challenges and Lessons Learned","publication_year":2024,"publication_date":"2024-09-10","ids":{"openalex":"https://openalex.org/W4403446709","doi":"https://doi.org/10.1109/etfa61755.2024.10711073"},"language":"en","primary_location":{"id":"doi:10.1109/etfa61755.2024.10711073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa61755.2024.10711073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073338171","display_name":"Jakob Jonas Rothert","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jakob Jonas Rothert","raw_affiliation_strings":["Fraunhofer IFF,Robotic Systems,Magdeburg,Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IFF,Robotic Systems,Magdeburg,Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014441161","display_name":"Sebastian Lang","orcid":"https://orcid.org/0000-0003-3397-1551"},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Lang","raw_affiliation_strings":["Fraunhofer IFF and Otto-von-Guericke-University,Magdeburg,Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IFF and Otto-von-Guericke-University,Magdeburg,Germany","institution_ids":["https://openalex.org/I95793202","https://openalex.org/I4210139350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090491038","display_name":"Martin Seidel","orcid":"https://orcid.org/0000-0002-0393-5624"},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Seidel","raw_affiliation_strings":["Fraunhofer IFF,Robotic Systems,Magdeburg,Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IFF,Robotic Systems,Magdeburg,Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069153795","display_name":"Magnus Hanses","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Magnus Hanses","raw_affiliation_strings":["Fraunhofer IFF,Robotic Systems,Magdeburg,Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IFF,Robotic Systems,Magdeburg,Germany","institution_ids":["https://openalex.org/I4210139350"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073338171"],"corresponding_institution_ids":["https://openalex.org/I4210139350"],"apc_list":null,"apc_paid":null,"fwci":0.854,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69927159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8988000154495239,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8988000154495239,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.8508999943733215,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.8360000252723694,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7206718921661377},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6830463409423828},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6458597183227539},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6292843818664551},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.5476804971694946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42497915029525757},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39141547679901123},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22614431381225586},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.19261246919631958}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7206718921661377},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6830463409423828},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6458597183227539},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6292843818664551},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.5476804971694946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42497915029525757},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39141547679901123},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22614431381225586},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.19261246919631958}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/etfa61755.2024.10711073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa61755.2024.10711073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/478395","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/478395","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2125188427","https://openalex.org/W2605102758","https://openalex.org/W2767050701","https://openalex.org/W2963390419","https://openalex.org/W2963411833","https://openalex.org/W2973229164","https://openalex.org/W2990747716","https://openalex.org/W3088310808","https://openalex.org/W3089760622","https://openalex.org/W3126321819","https://openalex.org/W3174299515","https://openalex.org/W3194048684","https://openalex.org/W3203417057","https://openalex.org/W4280638670","https://openalex.org/W4283788634","https://openalex.org/W4287113380","https://openalex.org/W4312908419","https://openalex.org/W4383108265","https://openalex.org/W4385430467","https://openalex.org/W6688062685","https://openalex.org/W6692846177","https://openalex.org/W6740801417","https://openalex.org/W6747473740","https://openalex.org/W6764969207","https://openalex.org/W6776730770","https://openalex.org/W6797024940","https://openalex.org/W6800004206","https://openalex.org/W6804601995","https://openalex.org/W6847203660"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W3201126466","https://openalex.org/W4240485100","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1],"has":[2],"been":[3],"successfully":[4],"applied":[5],"to":[6,56,65,68,74,99,116,136,141],"many":[7],"robotic":[8],"and":[9,34,96,111,114,126],"non-robotic":[10],"tasks":[11],"in":[12],"recent":[13],"years.":[14],"However,":[15],"most":[16],"of":[17,39,48,108,130],"these":[18],"developments":[19],"have":[20],"focused":[21],"solely":[22],"on":[23],"simulated":[24],"environments,":[25],"eliminating":[26],"safety":[27],"concerns":[28],"associated":[29],"with":[30,152],"a":[31,49,69,100,138,153],"real":[32,101,154],"environment":[33],"allowing":[35],"for":[36,77,123],"faster":[37],"collection":[38],"samples.":[40],"In":[41,83],"domains":[42],"such":[43],"as":[44],"robotics,":[45],"the":[46,57,78,88,106,121,128,144,149],"use":[47,137],"simulation":[50],"unfortunately":[51],"is":[52],"not":[53],"sufficient":[54],"due":[55],"unpredictable,":[58],"real-world":[59],"effects.":[60],"The":[61],"trained":[62],"policies":[63],"need":[64],"be":[66],"applicable":[67],"non-virtual":[70],"robot,":[71],"which":[72],"leads":[73],"further":[75],"challenges":[76],"so":[79],"called":[80],"domain":[81,124,131,145],"transfer.":[82],"this":[84],"paper,":[85],"we":[86],"present":[87],"lessons":[89],"learned":[90],"from":[91],"training":[92,112],"an":[93],"agent-based":[94,150],"control":[95,151],"transferring":[97],"it":[98],"robot.":[102,155],"These":[103],"are:":[104],"(1)":[105],"importance":[107,129],"sample":[109],"efficiency":[110],"times,":[113],"methods":[115],"influence":[117],"them,":[118],"(2)":[119],"preparing":[120],"model":[122],"transfer,":[125],"(3)":[127],"transfer":[132,140,146],"evaluation.":[133],"We":[134],"propose":[135],"sim-to-sim":[139],"thoroughly":[142],"evaluate":[143],"before":[147],"integrating":[148]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}