Sim2Realギャップ定量化による四脚歩行の試験と評価
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification
ベイズ最適化を用いた2段階の最適化問題でシステムの目標達成度を評価し、シミュレータと実機の間のSim2Realギャップを定量化する手法を提案し、その再現性と環境識別能力を示した。
著者: Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
分類: eess.SY, cs.LG, cs.RO, cs.SY
原文アブストラクト
In this letter, the authors propose a two-step approach to evaluate and verify a true system's capacity to satisfy its operational objective. Specifically, whenever the system objective has a quantifiable measure of satisfaction, i.e. a signal temporal logic specification, a barrier function, etc - the authors develop two separate optimization problems solvable via a Bayesian Optimization procedure detailed within. This dual approach has the added benefit of quantifying the Sim2Real Gap between a system simulator and its hardware counterpart. Our contributions are twofold. First, we show repeatability with respect to our outlined optimization procedure in solving these optimization problems. Second, we show that the same procedure can discriminate between different environments by identifying the Sim2Real Gap between a simulator and its hardware counterpart operating in different environments.
