{"id":637,"date":"2025-05-25T20:33:50","date_gmt":"2025-05-25T11:33:50","guid":{"rendered":"https:\/\/tamani-manabu.com\/?p=637"},"modified":"2025-05-25T20:33:50","modified_gmt":"2025-05-25T11:33:50","slug":"sim-to-real%ef%bc%9f","status":"publish","type":"post","link":"https:\/\/tamani-manabu.com\/?p=637","title":{"rendered":"Sim-to-Real\uff1f"},"content":{"rendered":"\n<p>Sim-to-Real\uff1f<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>\u300c\u30b7\u30e0\u30fb\u30c8\u30a5\u30fb\u30ea\u30a2\u30eb\uff08Sim-to-Real\uff09\u300d\u306f\u3001\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u3084AI\u306e\u5206\u91ce\u3067\u975e\u5e38\u306b\u91cd\u8981\u306a\u6982\u5ff5\u3067\u3059\u3002\u3053\u308c\u306f\u3001<strong>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3067\u5b66\u7fd2\u3055\u305b\u305f\u30e2\u30c7\u30eb\u3084\u65b9\u7b56\uff08\u30dd\u30ea\u30b7\u30fc\uff09\u3092\u3001\u73fe\u5b9f\u4e16\u754c\u306e\u5b9f\u6a5f\u306b\u8ee2\u79fb\u3055\u305b\u3066\u5229\u7528\u3059\u308b<\/strong>\u3068\u3044\u3046\u624b\u6cd5\u3092\u6307\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Sim-to-Real\u306e\u76ee\u7684\u3068\u5229\u70b9<\/h3>\n\n\n\n<p>\u306a\u305cSim-to-Real\u304c\u91cd\u8981\u306a\u306e\u3067\u3057\u3087\u3046\u304b\uff1f\u4e3b\u306a\u76ee\u7684\u3068\u5229\u70b9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5b89\u5168\u6027\u3068\u30b3\u30b9\u30c8\u52b9\u7387<\/strong>:\n<ul class=\"wp-block-list\">\n<li>\u73fe\u5b9f\u4e16\u754c\u3067\u30ed\u30dc\u30c3\u30c8\u306b\u5b66\u7fd2\u3055\u305b\u308b\u5834\u5408\u3001\u8a66\u884c\u932f\u8aa4\u306e\u904e\u7a0b\u3067\u30ed\u30dc\u30c3\u30c8\u304c\u7834\u640d\u3057\u305f\u308a\u3001\u5468\u56f2\u306e\u74b0\u5883\u306b\u640d\u5bb3\u3092\u4e0e\u3048\u305f\u308a\u3059\u308b\u30ea\u30b9\u30af\u304c\u3042\u308a\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3067\u3042\u308c\u3070\u3001\u4f55\u5ea6\u5931\u6557\u3057\u3066\u3082\u7269\u7406\u7684\u306a\u640d\u5bb3\u306f\u767a\u751f\u305b\u305a\u3001\u5b89\u5168\u304b\u3064\u4f4e\u30b3\u30b9\u30c8\u3067\u5927\u91cf\u306e\u30c7\u30fc\u30bf\u53ce\u96c6\u3084\u5b66\u7fd2\u304c\u53ef\u80fd\u3067\u3059\u3002<\/li>\n\n\n\n<li>\u7279\u306b\u5f37\u5316\u5b66\u7fd2\u306e\u3088\u3046\u306b\u3001\u5927\u91cf\u306e\u8a66\u884c\u56de\u6570\u304c\u5fc5\u8981\u306a\u5b66\u7fd2\u65b9\u6cd5\u306b\u304a\u3044\u3066\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306f\u4e0d\u53ef\u6b20\u3067\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u30c7\u30fc\u30bf\u751f\u6210\u306e\u5bb9\u6613\u3055<\/strong>:\n<ul class=\"wp-block-list\">\n<li>\u73fe\u5b9f\u4e16\u754c\u3067\u591a\u69d8\u306a\u72b6\u6cc1\u306e\u30c7\u30fc\u30bf\u3092\u53ce\u96c6\u3059\u308b\u306e\u306f\u6642\u9593\u3068\u52b4\u529b\u304c\u304b\u304b\u308a\u307e\u3059\u304c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u69d8\u3005\u306a\u74b0\u5883\u6761\u4ef6\uff08\u7167\u660e\u3001\u7269\u4f53\u306e\u914d\u7f6e\u3001\u7269\u7406\u30d1\u30e9\u30e1\u30fc\u30bf\u306a\u3069\uff09\u3092\u5bb9\u6613\u306b\u8a2d\u5b9a\u30fb\u5909\u66f4\u3057\u3001\u81a8\u5927\u306a\u5b66\u7fd2\u30c7\u30fc\u30bf\u3092\u751f\u6210\u3067\u304d\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u4f8b\u3048\u3070\u3001\u30c6\u30b9\u30e9\u306eFSD\u306e\u3088\u3046\u306b\u3001\u4f55\u767e\u4e07\u3082\u306e\u904b\u8ee2\u30b7\u30ca\u30ea\u30aa\u3092\u73fe\u5b9f\u4e16\u754c\u3067\u518d\u73fe\u3059\u308b\u306e\u306f\u4e0d\u53ef\u80fd\u3067\u3059\u304c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u3042\u308c\u3070\u53ef\u80fd\u3067\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u9ad8\u901f\u306a\u5b66\u7fd2<\/strong>:\n<ul class=\"wp-block-list\">\n<li>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306f\u73fe\u5b9f\u6642\u9593\u3088\u308a\u3082\u9ad8\u901f\u306b\u52d5\u4f5c\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u307e\u305f\u8907\u6570\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3092\u4e26\u884c\u3057\u3066\u5b9f\u884c\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u5b66\u7fd2\u6642\u9593\u3092\u5927\u5e45\u306b\u77ed\u7e2e\u3067\u304d\u307e\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">Sim-to-Real\u306e\u8ab2\u984c\uff1a\u300c\u30ea\u30a2\u30ea\u30c6\u30a3\u30ae\u30e3\u30c3\u30d7\u300d<\/h3>\n\n\n\n<p>\u3057\u304b\u3057\u3001Sim-to-Real\u306b\u306f\u5927\u304d\u306a\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u308c\u304c\u300c<strong>\u30ea\u30a2\u30ea\u30c6\u30a3\u30ae\u30e3\u30c3\u30d7 (Reality Gap)<\/strong>\u300d\u3068\u547c\u3070\u308c\u308b\u3082\u306e\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u30ea\u30a2\u30ea\u30c6\u30a3\u30ae\u30e3\u30c3\u30d7\u3068\u306f\u3001<strong>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3068\u73fe\u5b9f\u4e16\u754c\u3068\u306e\u9593\u306b\u5b58\u5728\u3059\u308b\u7269\u7406\u7684\u306a\u3001\u3042\u308b\u3044\u306f\u611f\u899a\u7684\u306a\u5dee\u7570<\/strong>\u306e\u3053\u3068\u3067\u3059\u3002\u4f8b\u3048\u3070\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7269\u7406\u30e2\u30c7\u30eb\u306e\u4e0d\u6b63\u78ba\u3055<\/strong>: \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7269\u7406\u30a8\u30f3\u30b8\u30f3\u304c\u3001\u73fe\u5b9f\u4e16\u754c\u306e\u6469\u64e6\u3001\u6163\u6027\u3001\u885d\u7a81\u306a\u3069\u3092\u5b8c\u5168\u306b\u518d\u73fe\u3059\u308b\u3053\u3068\u306f\u56f0\u96e3\u3067\u3059\u3002<\/li>\n\n\n\n<li><strong>\u30bb\u30f3\u30b5\u30fc\u306e\u30ce\u30a4\u30ba\u3068\u7cbe\u5ea6<\/strong>: \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30bb\u30f3\u30b5\u30fc\u30c7\u30fc\u30bf\u306f\u7406\u60f3\u7684\u3067\u3059\u304c\u3001\u73fe\u5b9f\u4e16\u754c\u306e\u30bb\u30f3\u30b5\u30fc\u306b\u306f\u30ce\u30a4\u30ba\u3084\u6e2c\u5b9a\u8aa4\u5dee\u304c\u5b58\u5728\u3057\u307e\u3059\u3002<\/li>\n\n\n\n<li><strong>\u74b0\u5883\u306e\u8907\u96d1\u3055<\/strong>: \u73fe\u5b9f\u4e16\u754c\u306b\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u518d\u73fe\u3057\u304d\u308c\u306a\u3044\u5fae\u7d30\u306a\u51f9\u51f8\u3001\u5149\u306e\u53cd\u5c04\u3001\u7a7a\u6c17\u62b5\u6297\u306a\u3069\u306e\u8907\u96d1\u306a\u8981\u7d20\u304c\u3042\u308a\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3053\u306e\u30ea\u30a2\u30ea\u30c6\u30a3\u30ae\u30e3\u30c3\u30d7\u304c\u5b58\u5728\u3059\u308b\u305f\u3081\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5b8c\u74a7\u306b\u5b66\u7fd2\u3057\u305f\u30e2\u30c7\u30eb\u304c\u3001\u5b9f\u6a5f\u3067\u306f\u3046\u307e\u304f\u6a5f\u80fd\u3057\u306a\u3044\u3001\u3042\u308b\u3044\u306f\u4e88\u671f\u305b\u306c\u52d5\u4f5c\u3092\u3057\u3066\u3057\u307e\u3046\u3068\u3044\u3046\u554f\u984c\u304c\u767a\u751f\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u30ea\u30a2\u30ea\u30c6\u30a3\u30ae\u30e3\u30c3\u30d7\u3092\u57cb\u3081\u308b\u305f\u3081\u306e\u30a2\u30d7\u30ed\u30fc\u30c1<\/h3>\n\n\n\n<p>\u3053\u306e\u30ea\u30a2\u30ea\u30c6\u30a3\u30ae\u30e3\u30c3\u30d7\u3092\u514b\u670d\u3059\u308b\u305f\u3081\u306b\u3001\u69d8\u3005\u306a\u7814\u7a76\u3068\u6280\u8853\u304c\u958b\u767a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u4e3b\u306a\u30a2\u30d7\u30ed\u30fc\u30c1\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u30c9\u30e1\u30a4\u30f3\u30e9\u30f3\u30c0\u30de\u30a4\u30bc\u30fc\u30b7\u30e7\u30f3 (Domain Randomization: DR)<\/strong>:\n<ul class=\"wp-block-list\">\n<li>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u7269\u7406\u30d1\u30e9\u30e1\u30fc\u30bf\uff08\u6469\u64e6\u4fc2\u6570\u3001\u8cea\u91cf\u3001\u91cd\u529b\u306a\u3069\uff09\u3084\u8996\u899a\u7684\u8981\u7d20\uff08\u30c6\u30af\u30b9\u30c1\u30e3\u3001\u7167\u660e\u3001\u7269\u4f53\u306e\u8272\u3001\u5f62\u72b6\u306a\u3069\uff09\u3092\u610f\u56f3\u7684\u306b\u30e9\u30f3\u30c0\u30e0\u306b\u5909\u5316\u3055\u305b\u306a\u304c\u3089\u5b66\u7fd2\u3055\u305b\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u3053\u308c\u306b\u3088\u308a\u3001\u30e2\u30c7\u30eb\u306f\u591a\u69d8\u306a\u74b0\u5883\u306b\u5bfe\u5fdc\u3067\u304d\u308b\u30ed\u30d0\u30b9\u30c8\u306a\uff08\u9811\u5065\u306a\uff09\u80fd\u529b\u3092\u7372\u5f97\u3057\u3001\u73fe\u5b9f\u4e16\u754c\u306e\u672a\u77e5\u306e\u30d0\u30ea\u30a8\u30fc\u30b7\u30e7\u30f3\u306b\u3082\u5bfe\u5fdc\u3057\u3084\u3059\u304f\u306a\u308a\u307e\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u30c9\u30e1\u30a4\u30f3\u9069\u5fdc (Domain Adaptation)<\/strong>:\n<ul class=\"wp-block-list\">\n<li>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3068\u5b9f\u4e16\u754c\u306e\u30c7\u30fc\u30bf\u306e\u4e21\u65b9\u3092\u7528\u3044\u3066\u3001\u4e21\u8005\u306e\u30c9\u30e1\u30a4\u30f3\u9593\u306e\u5dee\u7570\u3092\u57cb\u3081\u308b\u3088\u3046\u306b\u5b66\u7fd2\u3092\u884c\u3044\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u4f8b\u3048\u3070\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092\u73fe\u5b9f\u4e16\u754c\u30c7\u30fc\u30bf\u306b\u8fd1\u3065\u3051\u308b\u300c\u753b\u50cf\u5909\u63db\u300d\u3084\u3001\u4e21\u30c9\u30e1\u30a4\u30f3\u306b\u5171\u901a\u3059\u308b\u7279\u5fb4\u91cf\u3092\u62bd\u51fa\u3059\u308b\u300c\u7279\u5fb4\u91cf\u5b66\u7fd2\u300d\u306a\u3069\u304c\u3042\u308a\u307e\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>Reality-to-Sim (\u307e\u305f\u306f Sim-to-Real with Real-World Fine-Tuning)<\/strong>:\n<ul class=\"wp-block-list\">\n<li>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5927\u307e\u304b\u306a\u5b66\u7fd2\u3092\u884c\u3063\u305f\u5f8c\u3001\u5c11\u91cf\u306e\u73fe\u5b9f\u4e16\u754c\u30c7\u30fc\u30bf\u3067\u8ffd\u52a0\u5b66\u7fd2\uff08\u30d5\u30a1\u30a4\u30f3\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\uff09\u3092\u884c\u3046\u3053\u3068\u3067\u3001\u30ea\u30a2\u30ea\u30c6\u30a3\u30ae\u30e3\u30c3\u30d7\u3092\u57cb\u3081\u308b\u624b\u6cd5\u3067\u3059\u3002<\/li>\n\n\n\n<li>\u9006\u306b\u3001\u73fe\u5b9f\u4e16\u754c\u306e\u30c7\u30fc\u30bf\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3088\u308a\u73fe\u5b9f\u7684\u306b\u3059\u308b\u300cReality-to-Sim\u300d\u3068\u3044\u3046\u8003\u3048\u65b9\u3082\u3042\u308a\u307e\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u3088\u308a\u9ad8\u5fe0\u5b9f\u5ea6\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3<\/strong>:\n<ul class=\"wp-block-list\">\n<li>\u7269\u7406\u30a8\u30f3\u30b8\u30f3\u3084\u30ec\u30f3\u30c0\u30ea\u30f3\u30b0\u6280\u8853\u306e\u5411\u4e0a\u306b\u3088\u308a\u3001\u3088\u308a\u73fe\u5b9f\u306b\u8fd1\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3092\u69cb\u7bc9\u3059\u308b\u3053\u3068\u81ea\u4f53\u3082\u91cd\u8981\u3067\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p>\u30c6\u30b9\u30e9\u304cOptimus\u3084FSD\u3067\u300c\u30a8\u30f3\u30c9\u30c4\u30fc\u30a8\u30f3\u30c9\u306e\u30cb\u30e5\u30fc\u30e9\u30eb\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u300d\u3084\u300c\u4e00\u4eba\u79f0\u8996\u70b9\u30d3\u30c7\u30aa\u304b\u3089\u306e\u5b66\u7fd2\u300d\u3068\u3044\u3063\u305f\u624b\u6cd5\u3092\u53d6\u308a\u5165\u308c\u3066\u3044\u308b\u306e\u306f\u3001\u307e\u3055\u306b\u3053\u306eSim-to-Real\u306e\u8ab2\u984c\u3092\u514b\u670d\u3057\u3001\u3088\u308a\u30b9\u30e0\u30fc\u30ba\u306b\u73fe\u5b9f\u4e16\u754c\u306b\u8ee2\u79fb\u3067\u304d\u308b\u6c4e\u7528\u7684\u306aAI\u3092\u69cb\u7bc9\u3057\u3088\u3046\u3068\u3059\u308b\u8a66\u307f\u3068\u8a00\u3048\u307e\u3059\u3002<\/p>\n\n\n\n<figure 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