Before revision:  After that , a sim-to-real layer of differentiable neurons is employed to map the results of simulation to the physical hardware, where this sim-to-real layer can be learned from  very limited number of training samples generated on the hardware.
After revision:  Thereafter , a sim-to-real layer of differentiable neurons is employed to map the results of simulation to the physical hardware, where this sim-to-real layer can be learned from very limited number of training samples generated on the hardware.