control gap

index.html

@@ -319,6 +319,13 @@ <h3 class="title is-4">Visual Matching to mitigate Real-to-Sim Visual Gap</h3>
               backgrounds; and (2) texture matching, which involves projecting real object textures onto simulation assets and tuning
               robot arm colors using real videos.
             </p>
+            <h3 class="title is-4">System Identification to mitigate Real-to-Sim Control Gap</h3>
+            <img src="static/images/control_gap.png" />
+            <p>
+              The goal of mitigating the control gap between simulated and real-world environments is to ensure that policy actions
+              executed in simulation yields comparable effects on the robot’s end-effector as those observed when executed on the real
+              robot. We perform system identification (SysID) for closing the control gap between real and simulated environments on a small sample of trajectories from the real world dataset.
+            </p>
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@@ -372,7 +379,6 @@ <h3 class="title is-4">Evaluating Policies</h3>
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-                    <p>VLMaps</p>
                   </div>
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