论文标题
sim2real2sim：在灵活的对象操纵中桥接模拟和现实世界之间的差距
Sim2Real2Sim: Bridging the Gap Between Simulation and Real-World in Flexible Object Manipulation
论文作者
论文摘要
本文介绍了一种称为模拟对仿真的新策略（SIM2REAL2SIM），以弥合仿真和现实世界之间的差距，并自动化灵活的对象操纵任务。该策略包括三个步骤：（1）使用粗糙环境与估计模型一起开发完成模拟中的操纵任务的方法； （2）应用从模拟到现实世界的方法并比较它们的性能； （3）根据现实世界和仿真之间的差异更新仿真中的模型和方法。选择2015年DARPA机器人技术挑战决赛的插件任务是选择评估我们的SIM2Real2SIM策略的。一种用于构建线性灵活对象模型的新标识方法是从现实世界到仿真的。在模拟和现实世界中，DRC插头任务的自动化证明了Sim2Real2SIM策略的成功。实施数值实验以验证模拟模型。
This paper addresses a new strategy called Simulation-to-Real-to-Simulation (Sim2Real2Sim) to bridge the gap between simulation and real-world, and automate a flexible object manipulation task. This strategy consists of three steps: (1) using the rough environment with the estimated models to develop the methods to complete the manipulation task in the simulation; (2) applying the methods from simulation to real-world and comparing their performance; (3) updating the models and methods in simulation based on the differences between the real world and the simulation. The Plug Task from the 2015 DARPA Robotics Challenge Finals is chosen to evaluate our Sim2Real2Sim strategy. A new identification approach for building the model of the linear flexible objects is derived from real-world to simulation. The automation of the DRC plug task in both simulation and real-world proves the success of the Sim2Real2Sim strategy. Numerical experiments are implemented to validate the simulated model.
