An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation

The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real-Sim-Real (RSR) loop framework leveraging differentiable simulation to address this gap by iteratively refining simulation parameters, aligning them with real-world conditions, and enabling robust and efficient policy transfer. A key contribution of our work is the design of an informative cost function that encourages the collection of diverse and representative real-world data, minimizing bias and maximizing the utility of each data point for simulation refinement. This cost function integrates seamlessly into existing reinforcement learning algorithms (e.g., PPO, SAC) and ensures a balanced exploration of critical regions in the real domain. Furthermore, our approach is implemented on the versatile Mujoco MJX platform, and our framework is compatible with a wide range of robotic systems. Experimental results on several robotic manipulation tasks demonstrate that our method significantly reduces the sim-to-real gap, achieving high task performance and generalizability across diverse scenarios of both explicit and implicit environmental uncertainties.