Approximately-paired simulation-to-real image translation

Disclosed are embodiments for facilitating approximately-paired simulation-to-real image translation. In some aspects, a method includes receiving, by a processing device performing training on a model, an approximately-paired image pair comprising a real image and a simulated image, wherein the simulated image is generated from the real image using contextual data of the real image; determining, by the processing device using a style encoder of the model, a style difference between a first style vector of the simulated image and a second style vector of the real image, wherein the first style vector and the second style vector encode style features of the simulated image and the real image using a style encoder; and inputting the style difference and the simulated image to a generative adversarial network (GAN) of the model to train the GAN to generate a post-processed simulated image.