Chaos and Order https://www.youngju.dev/blog 천천히 올바르게. AI Researcher & DevOps Engineer Youngju's tech blog. GPU/CUDA, LLM, MLOps, Kubernetes AI workloads, distributed training, and data engineering. ko fjvbn2003@gmail.com (Youngju Kim) fjvbn2003@gmail.com (Youngju Kim) Mon, 29 Jun 2026 00:00:00 GMT https://www.youngju.dev/blog/ai-papers/2026-06-29-sim-to-real-transfer-robotics.en Sim-to-Real — Bringing What Was Learned in Simulation into Reality https://www.youngju.dev/blog/ai-papers/2026-06-29-sim-to-real-transfer-robotics.en An analysis of why robot policies learned in simulation collapse in reality (the reality gap), covering countermeasures such as domain randomization, domain adaptation, system identification, and digital twins, along with hard-to-reproduce physics like tactile sensing and friction, and the promise and limits of zero-shot transfer, illustrated with diagrams and examples. Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticssim-to-realdomain-randomizationdigital-twinsimulation https://www.youngju.dev/blog/ai-papers/2026-06-29-sim-to-real-transfer-robotics.ja Sim-to-Real — シミュレーションで学んだことを現実へ https://www.youngju.dev/blog/ai-papers/2026-06-29-sim-to-real-transfer-robotics.ja シミュレーションで学習したロボット方策が現実で崩れる理由(現実ギャップ)を分析し、ドメインランダム化・ドメイン適応・システム同定・デジタルツインといった対応手法、触覚や摩擦など再現が難しい物理、そして zero-shot 転移の可能性と限界を、図と事例で説明します。 Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticssim-to-realdomain-randomizationdigital-twinsimulation https://www.youngju.dev/blog/ai-papers/2026-06-29-sim-to-real-transfer-robotics Sim-to-Real — 시뮬레이션에서 배운 것을 현실로 https://www.youngju.dev/blog/ai-papers/2026-06-29-sim-to-real-transfer-robotics 시뮬레이션에서 학습한 로봇 정책이 현실에서 무너지는 이유(현실 격차)를 분석하고, 도메인 랜덤화·도메인 적응·시스템 식별·디지털 트윈 같은 대응 기법과, 촉각·마찰 등 재현이 어려운 물리, zero-shot 전이의 가능성과 한계를 다이어그램과 사례로 설명합니다. Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticssim-to-realdomain-randomizationdigital-twinsimulation