In this section
Below is a list of all relevant publications authored by Robotics Forum members.
@inproceedings{Valassakis:2021:10.1109/IROS45743.2020.9341617,
author = {Valassakis, P and Ding, Z and Johns, E},
doi = {10.1109/IROS45743.2020.9341617},
publisher = {IEEE},
title = {Crossing the gap: a deep dive into zero-shot sim-to-real transfer for dynamics},
url = {http://dx.doi.org/10.1109/IROS45743.2020.9341617},
year = {2021}
}
TY - CPAPER
AB - 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 issuch a difficult problem, and present objective evaluations of anumber 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
AU - Valassakis,P
AU - Ding,Z
AU - Johns,E
DO - 10.1109/IROS45743.2020.9341617
PB - IEEE
PY - 2021///
TI - Crossing the gap: a deep dive into zero-shot sim-to-real transfer for dynamics
UR - http://dx.doi.org/10.1109/IROS45743.2020.9341617
UR - http://hdl.handle.net/10044/1/83620
ER -
Join our mailing list - sharing robotics-related activities at Imperial.
Robotics Forum
For all enquiries, please contact our Forum Manager, Dr Ana Cruz Ruiz
robotics-manager@imperial.ac.uk