Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks - James, Stephen; Wohlhart, Paul; Kalakrishnan, Mrinal; Kalashnikov, Dmitry; Irpan, Alex; Ibarz, Julian; Levine, Sergey; Hadsell, Raia; Bousmalis, Konstantinos (2018)