精密農業におけるロボットマニピュレーションのためのSim2Realの重要性と限界
The Importance and the Limitations of Sim2Real for Robotic Manipulation in Precision Agriculture
精密農業ロボットでは動力学と視覚の詳細なシミュレーション精度が求められるが、現行のSim2Real技術では不十分であることを論じた論文。
著者: Carlo Rizzardo, Sunny Katyara, Miguel Fernandes, Fei Chen
分類: cs.RO
原文アブストラクト
In recent years Sim2Real approaches have brought great results to robotics. Techniques such as model-based learning or domain randomization can help overcome the gap between simulation and reality, but in some situations simulation accuracy is still needed. An example is agricultural robotics, which needs detailed simulations, both in terms of dynamics and visuals. However, simulation software is still not capable of such quality and accuracy. Current Sim2Real techniques are helpful in mitigating the problem, but for these specific tasks they are not enough.
