https://blog.evjang.com/2021/09/ephemeralization.html
Robots Must Be Ephemeralized
Eric Jang
Monday, September 20, 2021
“I now believe that offline evaluation technology is no longer optional if you are studying general-purpose robots… I outline why it is tempting for roboticists to iterate directly on real life, and how the difficulty of evaluating general-purpose robots will eventually force us to increasingly rely on offline evaluation techniques such as simulation.”