MITIGATING REALITY GAP THROUGH MODIFICATION OF SIMULATED STATE DATA OF ROBOTIC SIMULATOR

Mitigating the reality gap through training and utilization of at least one difference model. The difference model can be utilized to generate, for each of a plurality of instances of simulated state data generated by a robotic simulator, a corresponding instance of modified simulated state data. The difference model is trained so that a generated modified instance of simulated state data is closer to “real world data” than is a corresponding initial instance of simulated state data. Accordingly, the difference model can be utilized to mitigate the reality gap through modification of initially generated simulated state data, to make it more accurately reflect what would occur in a real environment. Moreover, the difference representation from the difference model can be used as input to the control policy to adapt the control learned from simulator to the real environment.