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Quantification and Minimization of the Simulation-Reality-Gap on a BRIO(R) Labyrinth Game
This video was recorded at European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML PKDD), Bled 2009. In this paper we present a new method, the so-called - 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 -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 BRIOR labyrinth game.
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This work is licensed under a Attribution-NonCommercial-NoDerivs 3.0 United States
