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Traversing the Reality Gap via Simulator Tuning [article]

Jack Collins, Ross Brown, Jurgen Leitner, David Howard
2020 arXiv   pre-print
Through the optimisation of physics engine parameters, we show that we are able to narrow the gap between simulated solutions and a real world dataset, and thus allow more ready transfer of leaned behaviours  ...  The large demand for simulated data has made the reality gap a problem on the forefront of robotics. We propose a method to traverse the gap by tuning available simulation parameters.  ...  INTRODUCTION Physics simulations attempt to model some pertinent facets of the real world in software.  ... 
arXiv:2003.01369v1 fatcat:morrf6vdnnbs3mmvewmfabatie

A digital hardware design for real-time simulation of large neural-system models in physical settings

Murphy Berzish, Bryan Tripp
2014 BMC Neuroscience  
In order to address this relationship more directly, there is increasing interest in testing real-time neural simulations that interface with the physical world.  ...  This implementation allows real-time approximate simulation of about the same scale as the largest real-time GPU simulations in Nengo, but using much less power.  ...  In order to address this relationship more directly, there is increasing interest in testing real-time neural simulations that interface with the physical world.  ... 
doi:10.1186/1471-2202-15-s1-p21 pmcid:PMC4126416 fatcat:un7um3nc7fb2vnunffonmp4xuq

Time accurate integration of software prototypes with event-based network simulations

Elias Weingärtner, Florian Schmidt, Tobias Heer, Klaus Wehrle
2009 Performance Evaluation Review  
It enables the time accurate integration of implementations with network simulations of any complexity.  ...  The concept of network emulation brings together the flexibility of network simulations and the accuracy of real-world prototype implementations.  ...  Physically speeding up the simulation hardware to make it real-time capable is the first obvious option to deal with simulation overload.  ... 
doi:10.1145/1639562.1639580 fatcat:k4b7mie3ere2hnusfdrndbxp3e

Sim2Real in Robotics and Automation: Applications and Challenges

Sebastian Hofer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa, Melissa Mozifian, Florian Golemo, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters (+3 others)
2021 IEEE Transactions on Automation Science and Engineering  
It is also not clear that successful simulation is necessary for effective real-world performance, since overly simplified world modeling may render the simulated problem harder than the real one.  ...  Similarly, model-based reinforcement learning iteratively refines a poor model or a world simulator to learn a controller for the real world.  ... 
doi:10.1109/tase.2021.3064065 fatcat:3poitbdvwfc6xlwweewpz5b4lu

Quantifying the Reality Gap in Robotic Manipulation Tasks

Jack Collins, David Howard, Jurgen Leitner
2019 2019 International Conference on Robotics and Automation (ICRA)  
The results highlight the strengths and weaknesses of contemporary simulators with focus on discrepancies between the real-world ground truth.  ...  Our work motivates further research into the reality gap with future work to investigate more complex tasks (i.e. physical interactions) with the possibility of measuring the correlation between simulator  ...  To our knowledge this is the first research that compares a highly accurate motion capture baseline with modern physics engines and simulators for real-world robot interaction tasks. C.  ... 
doi:10.1109/icra.2019.8793591 dblp:conf/icra/CollinsHL19 fatcat:7fdxrlwndndx5anirmwzr6hllu

Quantifying the Reality Gap in Robotic Manipulation Tasks [article]

Jack Collins, David Howard, Jürgen Leitner
2018 arXiv   pre-print
Simulators are used in robotics to design solutions for real world hardware without the need for physical access.  ...  We quantify the accuracy of various simulators compared to a real world robotic reaching and interaction task.  ...  To our knowledge this is the first research that compares a highly accurate motion capture baseline with modern physics engines and simulators for real-world robot interaction tasks. C.  ... 
arXiv:1811.01484v2 fatcat:enome3ltzvhyvdgup52ozeqeju

Ushering in the next generation of autonomous surgical robots? current trends and future possibilities with data driven physics simulation and domain randomization

Youssef Ghosn, Diagnostic Radiology Department, American University of Beirut Medical Center, Beirut, Lebanon, Mohammed Hussein Kamareddine, Geroge salloum, Elie Najem, Ayman Ghosn, Charbel Saade
2020 Clinical surgery research communications  
as random as the real world that could be transferred to a physical setting.  ...  Finally, we present suggested solutions for these limitations, mainly data driven physics simulations and domain randomization, in an attempt to create a virtual training environment as faithful to and  ...  for the randomness of the real world, requires large sets of synthetic data impute (both data demanding and time consuming) and many times still requires additional training on real-world data [17]  ... 
doi:10.31491/csrc.2020.06.051 fatcat:yam2lauybjbb3mjsoienznyb5m

The Rise of AI-Driven Simulators: Building a New Crystal Ball [article]

Ian Foster, David Parkes, Stephan Zheng
2020 arXiv   pre-print
simulators combine machine-learned and mathematical rules to make accurate and actionable predictions.  ...  (See also the companion CCC Quad Paper on Pandemic Informatics, which discusses features that would be essential to solving large-scale problems like preparation for, and response to, the inevitable next  ...  One problem is to build accurate enough real-world simulators, such as those used today in the push towards automated vehicles.  ... 
arXiv:2012.06049v1 fatcat:su5pxwiim5aszfij55lylk3vxa

Virtual reality

J.M. Zheng, K.W. Chan, I. Gibson
1998 IEEE potentials  
This algorithm can give real-time performance for only simple virtual worlds; to handle richer worlds, improved algorithms must come from somewhere else.  ...  "Time-critical computation" is essential for virtual reality systems to give real-time performance.  ... 
doi:10.1109/45.666641 fatcat:5vsjj4dj7bczdljfads4kjo5fy

Mixed reality simulation for mobile robots

I.Y.-H. Chen, B. MacDonald, B. Wunsche
2009 2009 IEEE International Conference on Robotics and Automation  
Mixed Reality (MR) presents a world where real and virtual elements co-exist.  ...  There is a need for robot developers to have a more flexible approach for conducting experiments and to obtain a better understanding of how robots perceive the world.  ...  The virtual robot must be an accurate representation of the real one for realistic experimental results and more accurate MR interaction.  ... 
doi:10.1109/robot.2009.5152325 dblp:conf/icra/ChenMW09 fatcat:diowcmf7hrb7dldzondpy4ggja

Haptic simulation for robot-assisted dressing

Wenhao Yu, Ariel Kapusta, Jie Tan, Charles C. Kemp, Greg Turk, C. Karen Liu
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
Our system first optimizes the parameters of a physics simulator using real-world data.  ...  We show that the classifiers from our system can categorize the dressing task outcomes more accurately than classifiers trained on ten times more real data.  ...  ACKNOWLEDGMENT We thank Alexander Clegg and Zackory Erickson for their help with this work.  ... 
doi:10.1109/icra.2017.7989716 dblp:conf/icra/YuKTKTL17 fatcat:hafxbc2j4neuvixpjemxis7xvm

Perspectives on Simulation and Miniaturization

Michael R. McCluskey
1973 Simulation & Games  
Due to the amount of equipment and the number of personnel needed for real-world operations, we must turn to simulation techniques to make time and expense factors manageable.  ...  to the real world.  ... 
doi:10.1177/003755007341002 fatcat:idrrfwwopnd5nljttoculg4gge

WHYNET

Junlan Zhou, Zhengrong Ji, Maneesh Varshney, Zhiguo Xu, Yi Yang, Mahesh Marina, Rajive Bagrodia
2006 Proceedings of the 1st international workshop on Wireless network testbeds, experimental evaluation & characterization - WiNTECH '06  
WHYNET framework enables seamless integration of physical, simulation and emulation components in a single framework, and allows the use of any combination of those components when evaluating a target  ...  , heterogeneous and large-scale wireless networks.  ...  Mike Fitz for help with the use of channel emulator. We thank Yongguang Zhang from HRL and Prof. Medy Sanadidi for XCP Linux implementation and helpful discussions.  ... 
doi:10.1145/1160987.1161016 dblp:conf/mobicom/ZhouJVXYMB06 fatcat:dtujf4nt4ng4thfufx7uyj4fw4

AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles [article]

Shital Shah, Debadeepta Dey, Chris Lovett, Ashish Kapoor
2017 arXiv   pre-print
Our simulator includes a physics engine that can operate at a high frequency for real-time hardware-in-the-loop (HITL) simulations with support for popular protocols (e.g. MavLink).  ...  Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process.  ...  Similarly, it is important to develop more accurate models of system dynamics so that simulated behavior closely mimics the real-world.  ... 
arXiv:1705.05065v2 fatcat:y2vzjzkq3fhxdfwt4uhgmux46a

Real-Time Simulation in Real-Time Systems: Current Status, Research Challenges and A Way Forward [article]

Xi Zheng
2019 arXiv   pre-print
Simulation especially real-time simulation have been widely used for the design and testing of real-time systems.  ...  This chapter describes the definition and importance of real-time simulation for real-time systems.  ...  Finally, this paper concludes with the discussion of some promising research directions in exploring real-time simulation for more robust and accurate real-time systems.  ... 
arXiv:1905.01848v1 fatcat:scv67aaspbc45l55ujgisaomci
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