论文标题
跨越差距：深入研究动力学的零射击SIM到现实转移
Crossing The Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for Dynamics
论文作者
论文摘要
使用复杂动力学的任务转移零射SIM转移是一个高度挑战性尚未解决的问题。近年来已经提出了许多解决方案，但是我们发现许多作品在现实世界中没有进行彻底的评估，或者低估了实现已发表结果所需的重大工程工作和特定于任务的微调。在本文中，我们深入研究了SIM到现实的转移挑战，研究为什么这是一个困难的问题，并对在一系列现实世界任务中进行多种转移方法进行了客观评估。令人惊讶的是，我们发现一种简单地将随机力注入仿真的方法的性能和更复杂的方法，例如那些随机化模拟器的动力学参数的方法，或使用经常性网络体系结构在线调整策略。
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.
