Not to detract from how cool this work is but the preconditions for this to work are quite far-reaching. It is based on bridging the reality gap by having that

Not to detract from how cool this work is but the preconditions for this to work are quite far-reaching. It is based on bridging the reality gap by having that gap approach zero - by removing error sources from the real world rather than model and account for them. Same goes for other ASL work.