Perspectives on Sim2Real Transfer for Robotics:A Summary of the R:SS 2020 Workshop

Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa Higuera, Florian Golemo, Melissa Mozifian, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White

Abstract: This report presents the debates, posters, anddiscussions of the Sim2Real workshop held in conjunctionwith the 2020 edition of the “Robotics: Science and System”conference. Twelve leaders of the field took competing de-bate positions on the definition, viability, and importance oftransferring skills from simulation to the real world in thecontext of robotics problems. The debaters also joined a largepanel discussion, answering audience questions and outliningthe future of Sim2Real in robotics. Furthermore, we invitedextended abstracts to this workshop which are summarized inthis report. Based on the workshop, this report concludes withdirections for practitioners exploiting this technology and forresearchers further exploring open problems in this area.