Towards Mitigating Sim2Real Gaps: A Formal Quantitative Approach
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915024488890368 |
|---|---|
| author | Sangeerth, P Lavaei, Abolfazl Jagtap, Pushpak |
| author_facet | Sangeerth, P Lavaei, Abolfazl Jagtap, Pushpak |
| contents | In this paper, we introduce the notion of simulation-gap functions to formally quantify the potential gap between an approximate nominal mathematical model and the high-fidelity simulator representation of a real system. Given a nominal mathematical model alongside a quantified simulation gap, the system can be conceptualized as one characterized by bounded states and input-dependent disturbances. This allows us to leverage the existing powerful model-based control algorithms effectively, ensuring the enforcement of desired specifications while guaranteeing a seamless transition from simulation to real-world application. To provide a formal guarantee for quantifying the simulation gap, we develop a data-driven approach. In particular, we collect data using high-fidelity simulators, leveraging recent advancements in Real-to-Sim transfer to ensure close alignment with reality. We demonstrate the effectiveness of the proposed method through experiments conducted on a nonlinear pendulum system and a nonlinear Turtlebot model in simulators. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_11310 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Towards Mitigating Sim2Real Gaps: A Formal Quantitative Approach Sangeerth, P Lavaei, Abolfazl Jagtap, Pushpak Systems and Control In this paper, we introduce the notion of simulation-gap functions to formally quantify the potential gap between an approximate nominal mathematical model and the high-fidelity simulator representation of a real system. Given a nominal mathematical model alongside a quantified simulation gap, the system can be conceptualized as one characterized by bounded states and input-dependent disturbances. This allows us to leverage the existing powerful model-based control algorithms effectively, ensuring the enforcement of desired specifications while guaranteeing a seamless transition from simulation to real-world application. To provide a formal guarantee for quantifying the simulation gap, we develop a data-driven approach. In particular, we collect data using high-fidelity simulators, leveraging recent advancements in Real-to-Sim transfer to ensure close alignment with reality. We demonstrate the effectiveness of the proposed method through experiments conducted on a nonlinear pendulum system and a nonlinear Turtlebot model in simulators. |
| title | Towards Mitigating Sim2Real Gaps: A Formal Quantitative Approach |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2411.11310 |