Quantification of Sim2Real Gap via Neural Simulation Gap Function
Year: 2025
Type: preprint
Abstract: In this paper, we introduce the notion of neural simulation gap functions, which formally quantifies the gap between the mathematical model and the model in the high-fidelity simulator, which closely resembles reality. Many times, a controller designed for a mathematical model does not work in reality because of the unmodelled gap between the two systems. With the help of this simulation gap function, one can use existing model-based tools to design controllers for the mathematical system and formally guarantee a decent transition from the simulation to the real world. Although in this work, we have quantified this gap using a neural network, which is trained using a finite number of data points, we give formal guarantees on the simulation gap function for the entire state space including the unseen data points. We collect data from high-fidelity simulators leveraging recent advancements in Real-to-Sim transfer to ensure close alignment with reality. We demonstrate our results through two case studies - a Mecanum bot and a Pendulum.
Source: arXiv (Cornell University)
Authors: Sangeerth, P, Jagtap, Pushpak
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6929559681
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