It's pretty amusing/amazing how well domain randomization works, but it seems like they train the pose detector in the real world and not in simulation: "To tr

It's pretty amusing/amazing how well domain randomization works, but it seems like they train the pose detector in the real world and not in simulation: "To transfer to the real world, we predict the object pose from 3 real camera feeds with the CNN, measure the robot fingertip locations using a 3D motion capture system, and give both of these to the control policy to produce an action for the robot."