From ff31cf341fe9569d24afd6fed170424d337243a9 Mon Sep 17 00:00:00 2001 From: Oier Mees Date: Sat, 4 May 2024 16:49:18 -0700 Subject: [PATCH] control gap --- index.html | 8 +++++++- static/images/control_gap.png | Bin 0 -> 218173 bytes 2 files changed, 7 insertions(+), 1 deletion(-) create mode 100644 static/images/control_gap.png diff --git a/index.html b/index.html index b39b1bf..1398038 100644 --- a/index.html +++ b/index.html @@ -319,6 +319,13 @@

Visual Matching to mitigate Real-to-Sim Visual Gap

backgrounds; and (2) texture matching, which involves projecting real object textures onto simulation assets and tuning robot arm colors using real videos.

+

System Identification to mitigate Real-to-Sim Control Gap

+ +

+ 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. +

@@ -372,7 +379,6 @@

Evaluating Policies

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VLMaps