Welcome back to our series on the Sim2Real challenge. In our last episode, we explored Domain Randomization, a technique where we embrace chaos in our simulations to build robust robots. We learned that by training on a wide variety of simulated conditions, we can create policies that are less sensitive to the "reality gap." But what if, instead of preparing for a broad range of possibilities, we could prepare for the worst-case scenario? What if we could find the "chinks in the armor" of