Towards Certified Sim-to-Real Transfer via Stochastic Simulation-Gap Functions
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2026
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866908904989917184 |
|---|---|
| author | Sangeerth, P Lavaei, Abolfazl Jagtap, Pushpak |
| author_facet | Sangeerth, P Lavaei, Abolfazl Jagtap, Pushpak |
| contents | This paper introduces the notion of stochastic simulation-gap function, which formally quantifies the gap between an approximate mathematical model and a high-fidelity stochastic simulator. Since controllers designed for the mathematical model may fail in practice due to unmodeled gaps, the stochastic simulation-gap function enables the simulator to be interpreted as the nominal model with bounded state- and input-dependent disturbances. We propose a data-driven approach and establish a formal guarantee on the quantification of this gap. Leveraging the stochastic simulation-gap function, we design a controller for the mathematical model that ensures the desired specification is satisfied in the high-fidelity simulator with high confidence, taking a step toward bridging the sim-to-real gap. We demonstrate the effectiveness of the proposed method using a TurtleBot model and a pendulum system in stochastic simulators. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_20672 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Towards Certified Sim-to-Real Transfer via Stochastic Simulation-Gap Functions Sangeerth, P Lavaei, Abolfazl Jagtap, Pushpak Systems and Control This paper introduces the notion of stochastic simulation-gap function, which formally quantifies the gap between an approximate mathematical model and a high-fidelity stochastic simulator. Since controllers designed for the mathematical model may fail in practice due to unmodeled gaps, the stochastic simulation-gap function enables the simulator to be interpreted as the nominal model with bounded state- and input-dependent disturbances. We propose a data-driven approach and establish a formal guarantee on the quantification of this gap. Leveraging the stochastic simulation-gap function, we design a controller for the mathematical model that ensures the desired specification is satisfied in the high-fidelity simulator with high confidence, taking a step toward bridging the sim-to-real gap. We demonstrate the effectiveness of the proposed method using a TurtleBot model and a pendulum system in stochastic simulators. |
| title | Towards Certified Sim-to-Real Transfer via Stochastic Simulation-Gap Functions |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.20672 |