论文标题
通过SIM2REAL GAP定量测试和评估四倍的步行步态
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification
论文作者
论文摘要
在这封信中，作者提出了一种两步方法，以评估和验证真正系统满足其运营目标的能力。具体而言，每当系统目标具有可量化的满意度度量时，即信号时间逻辑规范，屏障功能等 - 作者都会通过内部详细介绍的贝叶斯优化过程解决两个单独的优化问题。这种双重方法具有量化系统模拟器与其硬件对应物之间的SIM2REAL差距的额外好处。我们的贡献是双重的。首先，我们在解决这些优化问题时显示了概述的优化程序的可重复性。其次，我们表明，相同的过程可以通过识别模拟器与其硬件在不同环境中操作的硬件对应物之间的SIM2REAL差距来区分不同的环境。
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.
