ギャップを越えて：動力学におけるゼロショットsim-to-real転送の深掘り
Crossing The Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for Dynamics
複雑な動力学タスクのゼロショットsim-to-real転送を実世界で客観評価し、単純なランダム力注入が複雑な手法と同等の性能を持つことを示した。
著者: Eugene Valassakis, Zihan Ding, Edward Johns
分類: cs.RO, cs.LG
原文アブストラクト
Zero-shot sim-to-real transfer of tasks with complex dynamics is a highly challenging and unsolved problem. A number of solutions have been proposed in recent years, but we have found that many works do not present a thorough evaluation in the real world, or underplay the significant engineering effort and task-specific fine tuning that is required to achieve the published results. In this paper, we dive deeper into the sim-to-real transfer challenge, investigate why this is such a difficult problem, and present objective evaluations of a number of transfer methods across a range of real-world tasks. Surprisingly, we found that a method which simply injects random forces into the simulation performs just as well as more complex methods, such as those which randomise the simulator's dynamics parameters, or adapt a policy online using recurrent network architectures.
