Abstract: Methods and systems for controlling a robot. In one aspect, the method (1300) comprises obtaining (s1302) first input information associated with a first simulation environment to which a first level of realism is assigned and obtaining (s1304) second input information associated with a second simulation environment to which a second level of realism is assigned. The first level of realism is different from the second level of realism. The method further comprises associating (s1306) the first input information with a first realism value representing the first level of realism; and associating (s1308) the second input information with a second realism value representing the second level of realism. The method further comprises modifying (s1310), based on the associated first input information and the associated second input information, one or more parameters of a machine learning (ML) process used for controlling the robot.