So what if you trained the robot to know when it needed real life training? Give it the option to train in a simulated environment or the real environment, but

So what if you trained the robot to know when it needed real life training? Give it the option to train in a simulated environment or the real environment, but grade it on performance in the real environment. I bet it would try to do most things in the virtual and then later in the physical, since virtual training would (could.../should?) be faster. And it would be able to learn what sort of things in the virtual machine don't map well to real life. Heck, it might even learn to generally compensate for flaws in the 3d simulation.