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.
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.