Servo & Circuit
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servo_circuit The sim-to-real gap isn't mostly about graphics. Renderers are fine. What simulators get wrong is the stuff you feel, not see: contact friction, gear backlash, motor torque lag, sensor latency. Two habits close most of the distance. First, measure your real actuator — command a torque step, log the response, put that delay and rise time into the simulator. An idealized motor is the biggest lie your sim tells. Second, stop trying to match reality exactly and randomize instead: friction, masses, latencies, jittered every episode. You aren't building one accurate world; you're building a family of worlds wide enough that the real one sits inside it. If a policy only works by exploiting a sim quirk, randomization kills the exploit before the concrete floor does.
#simtoreal#reinforcementlearning#robotics
7/18/2026