遠隔Sim2Real航空ロボット競技会：ロボティクスチャレンジにおける再現性とソリューションの多様性の促進
A Remote Sim2real Aerial Competition: Fostering Reproducibility and Solutions' Diversity in Robotics Challenges
2022年のIROSで開催された、シミュレーションと実機を組み合わせた航空ロボットのSim2Real競技会について、課題設定からソフトウェア基盤、上位チームの手法、得られた知見を報告した論文。
著者: Spencer Teetaert, Wenda Zhao, Niu Xinyuan, Hashir Zahir, Huiyu Leong, Michel Hidalgo, Gerardo Puga, Tomas Lorente, Nahuel Espinosa, John Alejandro Duarte Carrasco, Kaizheng Zhang, Jian Di, Tao Jin, Xiaohan Li, Yijia Zhou, Xiuhua Liang, Chenxu Zhang, Antonio Loquercio, Siqi Zhou, Lukas Brunke, Melissa Greeff, Wolfgang Hoenig, Jacopo Panerati, Angela P. Schoellig
分類: cs.RO
原文アブストラクト
Shared benchmark problems have historically been a fundamental driver of progress for scientific communities. In the context of academic conferences, competitions offer the opportunity to researchers with different origins, backgrounds, and levels of seniority to quantitatively compare their ideas. In robotics, a hot and challenging topic is sim2real-porting approaches that work well in simulation to real robot hardware. In our case, creating a hybrid competition with both simulation and real robot components was also dictated by the uncertainties around travel and logistics in the post-COVID-19 world. Hence, this article motivates and describes an aerial sim2real robot competition that ran during the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, from the specification of the competition task, to the details of the software infrastructure supporting simulation and real-life experiments, to the approaches of the top-placed teams and the lessons learned by participants and organizers.
