{"id":103461,"date":"2026-09-10T15:33:04","date_gmt":"2026-09-10T07:33:04","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/103461.html"},"modified":"2026-09-10T15:33:04","modified_gmt":"2026-09-10T07:33:04","slug":"%e7%ac%ac%e5%85%ad%e7%af%87%ef%bc%9asim2real-%e6%b7%b1%e5%ba%a6%e8%a7%a3%e6%9e%90-%e5%a6%82%e4%bd%95%e8%ae%a9%e4%bb%bf%e7%9c%9f%e4%b8%ad%e7%9a%84%e6%99%ba%e8%83%bd%e4%bd%93%e8%b5%b0","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/103461.html","title":{"rendered":"\u7b2c\u516d\u7bc7\uff1aSim2Real \u6df1\u5ea6\u89e3\u6790\u2014\u2014\u5982\u4f55\u8ba9\u4eff\u771f\u4e2d\u7684\u667a\u80fd\u4f53\u8d70\u8fdb\u73b0\u5b9e"},"content":{"rendered":"<h2>\u7b2c\u516d\u7bc7&#xff1a;Sim2Real \u6df1\u5ea6\u89e3\u6790\u2014\u2014\u5982\u4f55\u8ba9\u4eff\u771f\u4e2d\u7684\u667a\u80fd\u4f53\u8d70\u8fdb\u73b0\u5b9e<\/h2>\n<h3>\u4e00\u3001\u4e3a\u4ec0\u4e48\u4eff\u771f\u6210\u529f\u4e0d\u4ee3\u8868\u73b0\u5b9e\u53ef\u7528<\/h3>\n<p>\u673a\u5668\u4eba\u5728\u4eff\u771f\u73af\u5883\u4e2d\u5b8c\u6210\u4efb\u52a1&#xff0c;\u5230\u4e86\u73b0\u5b9e\u73af\u5883\u5374\u53ef\u80fd\u7acb\u5373\u5931\u8d25\u3002\u8fd9\u79cd\u5dee\u5f02\u79f0\u4e3a Reality Gap\u3002<\/p>\n<p>\u5176\u6765\u6e90\u81f3\u5c11\u5305\u62ec\u516d\u7c7b&#xff1a;<\/p>\n<h4>1. \u89c6\u89c9\u5dee\u5f02<\/h4>\n<ul>\n<li>\u5149\u7167\u548c\u9634\u5f71&#xff1b;<\/li>\n<li>\u6750\u8d28\u53cd\u5c04&#xff1b;<\/li>\n<li>\u955c\u5934\u7578\u53d8&#xff1b;<\/li>\n<li>\u80cc\u666f\u53d8\u5316&#xff1b;<\/li>\n<li>\u96e8\u96ea\u3001\u7070\u5c18\u548c\u70df\u96fe\u3002<\/li>\n<\/ul>\n<h4>2. \u52a8\u529b\u5b66\u5dee\u5f02<\/h4>\n<ul>\n<li>\u6469\u64e6\u7cfb\u6570&#xff1b;<\/li>\n<li>\u673a\u68b0\u95f4\u9699&#xff1b;<\/li>\n<li>\u7535\u673a\u54cd\u5e94&#xff1b;<\/li>\n<li>\u8d1f\u8f7d\u53d8\u5316&#xff1b;<\/li>\n<li>\u78b0\u649e\u5f62\u53d8\u3002<\/li>\n<\/ul>\n<h4>3. \u4f20\u611f\u5668\u5dee\u5f02<\/h4>\n<ul>\n<li>\u566a\u58f0&#xff1b;<\/li>\n<li>\u5ef6\u8fdf&#xff1b;<\/li>\n<li>\u4e22\u5e27&#xff1b;<\/li>\n<li>\u6e29\u5ea6\u6f02\u79fb&#xff1b;<\/li>\n<li>\u6807\u5b9a\u8bef\u5dee\u3002<\/li>\n<\/ul>\n<h4>4. \u6267\u884c\u5668\u5dee\u5f02<\/h4>\n<p>\u4eff\u771f\u4e2d\u7684\u52a8\u4f5c\u901a\u5e38\u7acb\u5373\u751f\u6548&#xff0c;\u771f\u5b9e\u8bbe\u5907\u5b58\u5728\u60ef\u6027\u3001\u9971\u548c\u548c\u901a\u4fe1\u5ef6\u8fdf\u3002<\/p>\n<h4>5. \u73af\u5883\u5dee\u5f02<\/h4>\n<p>\u771f\u5b9e\u4e16\u754c\u5305\u542b\u4eff\u771f\u5668\u6ca1\u6709\u5efa\u6a21\u7684\u4eba\u3001\u969c\u788d\u7269\u548c\u5076\u53d1\u4e8b\u4ef6\u3002<\/p>\n<h4>6. \u4efb\u52a1\u5dee\u5f02<\/h4>\n<p>\u4eff\u771f\u76ee\u6807\u5f80\u5f80\u6e05\u6670\u7a33\u5b9a&#xff0c;\u771f\u5b9e\u4efb\u52a1\u53ef\u80fd\u4e34\u65f6\u53d8\u5316\u6216\u5b58\u5728\u51b2\u7a81\u7ea6\u675f\u3002<\/p>\n<hr \/>\n<h3>\u4e8c\u3001Domain Randomization<\/h3>\n<p>\u9886\u57df\u968f\u673a\u5316\u7684\u6838\u5fc3\u601d\u60f3\u662f&#xff1a;\u4e0d\u8981\u628a\u4eff\u771f\u5668\u505a\u6210\u552f\u4e00\u4e16\u754c&#xff0c;\u800c\u8981\u5728\u8bad\u7ec3\u65f6\u4e0d\u65ad\u6539\u53d8\u73af\u5883\u3002<\/p>\n<p>[<br \/>\n\\\\theta\\\\sim P(\\\\theta)<br \/>\n]<\/p>\n<p>[<br \/>\n\\\\tau\\\\sim Simulator(\\\\theta)<br \/>\n]<\/p>\n<p>\u53ef\u968f\u673a\u5316\u53c2\u6570\u5305\u62ec&#xff1a;<\/p>\n<p>\u89c6\u89c9\u53c2\u6570&#xff1a;<br \/>\n\u5149\u7167\u3001\u7eb9\u7406\u3001\u989c\u8272\u3001\u80cc\u666f\u3001\u6444\u50cf\u5934\u4f4d\u7f6e<\/p>\n<p>\u52a8\u529b\u5b66\u53c2\u6570&#xff1a;<br \/>\n\u8d28\u91cf\u3001\u6469\u64e6\u3001\u963b\u5c3c\u3001\u91cd\u5fc3\u3001\u5173\u8282\u8bef\u5dee<\/p>\n<p>\u4f20\u611f\u5668\u53c2\u6570&#xff1a;<br \/>\n\u566a\u58f0\u3001\u5ef6\u8fdf\u3001\u5206\u8fa8\u7387\u3001\u4e22\u5e27\u6982\u7387<\/p>\n<p>\u73af\u5883\u53c2\u6570&#xff1a;<br \/>\n\u969c\u788d\u7269\u3001\u4eba\u5458\u4f4d\u7f6e\u3001\u5929\u6c14\u3001\u8bbe\u5907\u5e03\u5c40<\/p>\n<p>\u4f18\u5316\u76ee\u6807\u53d8\u4e3a&#xff1a;<\/p>\n<h2>[<br \/>\n\\\\pi^*<\/h2>\n<p>\\\\arg\\\\max_\\\\pi<br \/>\n\\\\mathbb{E}_{\\\\theta\\\\sim P(\\\\theta)}<br \/>\n[R(\\\\pi,\\\\theta)]<br \/>\n]<\/p>\n<p>\u7b56\u7565\u4e0d\u518d\u9002\u5e94\u67d0\u4e2a\u7cbe\u786e\u73af\u5883&#xff0c;\u800c\u662f\u5728\u4e00\u7ec4\u53ef\u80fd\u73af\u5883\u4e2d\u4fdd\u6301\u9c81\u68d2\u3002<\/p>\n<p>\u4e0d\u8fc7&#xff0c;\u968f\u673a\u8303\u56f4\u4e0d\u662f\u8d8a\u5927\u8d8a\u597d\u3002\u8303\u56f4\u8fc7\u5927\u53ef\u80fd\u8ba9\u8bad\u7ec3\u6570\u636e\u5931\u53bb\u73b0\u5b9e\u610f\u4e49&#xff0c;\u4f7f\u6a21\u578b\u53d8\u5f97\u6781\u7aef\u4fdd\u5b88\u3002<\/p>\n<hr \/>\n<h3>\u4e09\u3001System Identification<\/h3>\n<p>\u9886\u57df\u968f\u673a\u5316\u8ffd\u6c42\u9c81\u68d2&#xff0c;\u7cfb\u7edf\u8fa8\u8bc6\u5219\u8ffd\u6c42\u8ba9\u4eff\u771f\u5668\u63a5\u8fd1\u771f\u5b9e\u8bbe\u5907\u3002<\/p>\n<p>\u7ed9\u5b9a\u771f\u5b9e\u8f68\u8ff9&#xff1a;<\/p>\n<p>[<br \/>\n\\\\tau_{real}&#061;<br \/>\n{x_t,u_t,x_{t&#043;1}}<br \/>\n]<\/p>\n<p>\u5bfb\u627e\u6700\u5408\u9002\u7684\u4eff\u771f\u53c2\u6570&#xff1a;<\/p>\n<h2>[<br \/>\n\\\\theta^*<\/h2>\n<p>\\\\arg\\\\min_\\\\theta<br \/>\nd(<br \/>\n\\\\tau_{sim}(\\\\theta),<br \/>\n\\\\tau_{real}<br \/>\n)<br \/>\n]<\/p>\n<p>\u9700\u8981\u8bc6\u522b\u7684\u53c2\u6570\u53ef\u80fd\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u7535\u673a\u589e\u76ca&#xff1b;<\/li>\n<li>\u673a\u68b0\u81c2\u5173\u8282\u6469\u64e6&#xff1b;<\/li>\n<li>\u6c34\u6cf5\u6548\u7387\u66f2\u7ebf&#xff1b;<\/li>\n<li>\u8bbe\u5907\u70ed\u60ef\u6027&#xff1b;<\/li>\n<li>\u7535\u6c60\u5185\u963b&#xff1b;<\/li>\n<li>\u901a\u4fe1\u5ef6\u8fdf\u3002<\/li>\n<\/ul>\n<p>\u6700\u4f73\u5b9e\u8df5\u901a\u5e38\u4e0d\u662f\u5728\u7cfb\u7edf\u8fa8\u8bc6\u548c\u9886\u57df\u968f\u673a\u5316\u4e2d\u4e8c\u9009\u4e00&#xff0c;\u800c\u662f&#xff1a;<\/p>\n<p>\u5148\u7528\u7cfb\u7edf\u8fa8\u8bc6\u786e\u5b9a\u53c2\u6570\u4e2d\u5fc3<br \/>\n\u518d\u5728\u5408\u7406\u8303\u56f4\u5185\u8fdb\u884c\u968f\u673a\u5316<\/p>\n<hr \/>\n<h3>\u56db\u3001\u6559\u5e08\u2014\u5b66\u751f\u8bad\u7ec3<\/h3>\n<p>\u4eff\u771f\u73af\u5883\u53ef\u4ee5\u8bbf\u95ee\u73b0\u5b9e\u4e2d\u65e0\u6cd5\u76f4\u63a5\u83b7\u53d6\u7684\u7279\u6743\u4fe1\u606f&#xff1a;<\/p>\n<ul>\n<li>\u7cbe\u786e\u7269\u4f53\u5750\u6807&#xff1b;<\/li>\n<li>\u5b8c\u6574\u6df1\u5ea6\u56fe&#xff1b;<\/li>\n<li>\u65e0\u566a\u58f0\u901f\u5ea6&#xff1b;<\/li>\n<li>\u63a5\u89e6\u529b&#xff1b;<\/li>\n<li>\u969c\u788d\u7269\u771f\u5b9e\u8fb9\u754c\u3002<\/li>\n<\/ul>\n<p>\u53ef\u4ee5\u5148\u8bad\u7ec3\u6559\u5e08\u7b56\u7565&#xff1a;<\/p>\n<p>[<br \/>\na_t&#061;\\\\pi_{teacher}(s_t^{privileged})<br \/>\n]<\/p>\n<p>\u518d\u5c06\u80fd\u529b\u84b8\u998f\u7ed9\u53ea\u80fd\u8bbf\u95ee\u73b0\u5b9e\u4f20\u611f\u5668\u7684\u5b66\u751f&#xff1a;<\/p>\n<p>[<br \/>\na_t&#061;\\\\pi_{student}(o_t)<br \/>\n]<\/p>\n<p>\u84b8\u998f\u76ee\u6807\u4e3a&#xff1a;<\/p>\n<h2>[<br \/>\n\\\\mathcal{L}_{distill}<\/h2>\n<p>D(<br \/>\n\\\\pi_{student}(o_t),<br \/>\n\\\\pi_{teacher}(s_t)<br \/>\n)<br \/>\n]<\/p>\n<p>\u8fd9\u6837\u65e2\u80fd\u5229\u7528\u4eff\u771f\u4e2d\u7684\u5b8c\u6574\u72b6\u6001&#xff0c;\u53c8\u80fd\u4fdd\u8bc1\u6700\u7ec8\u6a21\u578b\u4f9d\u8d56\u73b0\u5b9e\u53ef\u83b7\u5f97\u7684\u89c2\u6d4b\u3002<\/p>\n<hr \/>\n<h3>\u4e94\u3001\u4e16\u754c\u6a21\u578b\u5728 Sim2Real \u4e2d\u7684\u4f5c\u7528<\/h3>\n<p>\u4f20\u7edf Sim2Real \u4e3b\u8981\u4f9d\u8d56\u4eba\u5de5\u8bbe\u8ba1\u4eff\u771f\u5668\u3002\u4e16\u754c\u6a21\u578b\u5f15\u5165\u540e&#xff0c;\u53ef\u4ee5\u5f62\u6210\u53cc\u5411\u6821\u6b63&#xff1a;<\/p>\n<p>\u7269\u7406\u4eff\u771f\u5668<br \/>\n   \u2193 \u751f\u6210\u8f68\u8ff9<br \/>\n\u7b56\u7565\u4e0e\u4e16\u754c\u6a21\u578b\u8bad\u7ec3<br \/>\n   \u2193<br \/>\n\u771f\u5b9e\u73af\u5883\u4f4e\u98ce\u9669\u8fd0\u884c<br \/>\n   \u2193<br \/>\n\u91c7\u96c6\u73b0\u5b9e\u504f\u5dee<br \/>\n   \u2193<br \/>\n\u4fee\u6b63\u4e16\u754c\u6a21\u578b\u548c\u4eff\u771f\u53c2\u6570<\/p>\n<p>\u8fd8\u53ef\u4ee5\u5b66\u4e60\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e4b\u95f4\u7684\u6b8b\u5dee&#xff1a;<\/p>\n<h2>[<br \/>\nx_{t&#043;1}^{real}<\/h2>\n<p>x_{t&#043;1}^{sim}<br \/>\n&#043;<br \/>\ng_\\\\theta(x_t,u_t)<br \/>\n]<\/p>\n<p>\u8fd9\u6837\u65e0\u9700\u63a8\u7ffb\u539f\u6709\u4eff\u771f\u5668&#xff0c;\u53ea\u9700\u5b66\u4e60\u5176\u672a\u8986\u76d6\u7684\u90e8\u5206\u3002<\/p>\n<hr \/>\n<h3>\u516d\u3001\u4ece\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u4e03\u9636\u6bb5\u4e0a\u7ebf\u6d41\u7a0b<\/h3>\n<h4>\u9636\u6bb5\u4e00&#xff1a;\u7eaf\u4eff\u771f\u8bad\u7ec3<\/h4>\n<p>\u8986\u76d6\u6b63\u5e38\u3001\u5f02\u5e38\u548c\u6781\u7aef\u573a\u666f\u3002<\/p>\n<h4>\u9636\u6bb5\u4e8c&#xff1a;\u4eff\u771f\u538b\u529b\u6d4b\u8bd5<\/h4>\n<p>\u4e3b\u52a8\u6ce8\u5165\u566a\u58f0\u3001\u5ef6\u8fdf\u3001\u4e22\u5305\u548c\u9519\u8bef\u89c2\u6d4b\u3002<\/p>\n<h4>\u9636\u6bb5\u4e09&#xff1a;\u5386\u53f2\u6570\u636e\u79bb\u7ebf\u56de\u653e<\/h4>\n<p>\u4f7f\u7528\u771f\u5b9e\u5386\u53f2\u6570\u636e\u9a8c\u8bc1\u6a21\u578b\u51b3\u7b56\u3002<\/p>\n<h4>\u9636\u6bb5\u56db&#xff1a;Shadow Mode<\/h4>\n<p>\u6a21\u578b\u8bfb\u53d6\u5b9e\u65f6\u6570\u636e\u5e76\u751f\u6210\u51b3\u7b56&#xff0c;\u4f46\u4e0d\u63a7\u5236\u8bbe\u5907\u3002<\/p>\n<p>\u6bd4\u8f83&#xff1a;<\/p>\n<p>\u6a21\u578b\u5efa\u8bae<br \/>\n\u5b9e\u9645\u4eba\u5de5\u64cd\u4f5c<br 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