Sim-to-Real Transfer Reading List

Curated by Mouhssine Rifaki | Stanford Electrical Engineering | Last updated April 2026

Bridging the gap between simulated training and real-world deployment for learned policies.

1. Sim-to-Real: Learning Agile Locomotion for Quadruped Robots
   Tan et al.. RSS 2018.
2. Learning Dexterous In-Hand Manipulation
   OpenAI et al.. IJRR 2020.
3. Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World
   Tobin et al.. IROS 2017.
4. Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience
   Chebotar et al.. ICRA 2019.
5. RealGen: Retrieval Augmented Generation for Controllable Traffic Scenarios
   Ding et al.. ECCV 2024.
6. Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task
   James et al.. CoRL 2017.
7. RMA: Rapid Motor Adaptation for Legged Robots
   Kumar et al.. RSS 2021.
8. Isaac Gym: High Performance GPU-Based Physics Simulation for Robot Learning
   Makoviychuk et al.. NeurIPS 2021.
9. Sim-to-Real Robot Learning from Pixels with Progressive Nets
   Rusu et al.. CoRL 2017.
10. On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer
    Gu et al.. CoRL 2023.