Quantification and Minimization of the Simulation-Reality-Gap on a BRIO Labyrinth Game
Constantin Bergatt, Jan Hendrik Metzen, Elsa Andrea Kirchner, Frank Kirchner
In Proceedings of the first International Workshop on Learning and Data Mining for Robotics, (LEMIR-09), 07.9.-11.9.2009, Bled, o.A., Sep/2009.

Zusammenfassung (Abstract) :

In this paper we present a new method, the so-called e-tunnel, that can be used to quantify the simulation-reality-gap by comparing the behavior (the state-trajectory) of a baseline system (for instance a real robotic system) and a model of this system (e.g. a physicbased simulation). With this e-tunnel, the impact of a change of the model's parameter can be analyzed. Furthermore, we present an approach to automate the optimization of these parameters and present some results obtained on a robot system that is based on a BRIO labyrinth game.

Files:

090831_Quantification_and_Minimization_of_the_Simulation-Reality-Gap_on_a_BRIOR__Labyrinth_Game_LEMIR_Bergatt.pdf

Links:

http://www.i.kyushu-u.ac.jp/~suzuki/lemir.html


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