Built on

S. James, M. Freese, and A. J. Davison, “PyRep: Bringing V-REP to Deep Robot Learning,” 6 2019. [Online]. Available: http://arxiv.org/abs/1906.11176
Original
1906
Earlier work this paper cites.
OpenAI, I. Akkaya, M. Andrychowicz, M. Chociej, M. Litwin, B. McGrew, A. Petron, A. Paino, M. Plappert, G. Powell, R. Ribas, J. Schneider, N. Tezak, J. Tworek, P. Welinder, L. Weng, Q. Yuan, W. Zaremba, and L. Zhang, “Solving Rubik’s Cube with a Robot Hand,” 10 2019. [Online]. Available: http://arxiv.org/abs/1910.07113
Original
1910
Earlier work this paper cites.
M. Gautier and W. Khalil, “On the identification of the inertial parameters of robots,” in Proceedings of the 27th IEEE Conference on Decision and Control , 1988, pp. 2264–2269
1988
Earlier work this paper cites.
N. Jakobi, P. Husbands, and I. Harvey, “Noise and the reality gap: The use of simulation in evolutionary robotics,” in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) . Springer, Berlin, Heidelberg, 1995, vol. 929, pp. 704–720. [Online]. Available: http://link.springer.com/10.1007/3-540-59496-5_337
1995
Earlier work this paper cites.
R. Storn and K. Price, “Differential Evolution – A Simple and Efficient Heuristic for global Optimization over Continuous Spaces,” Journal of Global Optimization , vol. 11, no. 4, pp. 341–359, 1997. [Online]. Available: https://doi.org/10.1023/A:1008202821328
1997
Earlier work this paper cites.
R. L. Williams, B. E. Carter, P. Gallina, and G. Rosati, “Dynamic model with slip for wheeled omnidirectional robots,” IEEE Transactions on Robotics and Automation , vol. 18, no. 3, pp. 285–293, 2002
2002
Earlier work this paper cites.
R. Smith, “Open dynamics engine,” 2005. [Online]. Available: https://www.ode.org/
2005
Earlier work this paper cites.
J. Ronkkonen, S. Kukkonen, and K. V. Price, “Real-parameter optimization with differential evolution,” in 2005 IEEE Congress on Evolutionary Computation , vol. 1, 2005, pp. 506–513
2005
Earlier work this paper cites.
E. Mezura-Montes, J. Velázquez-Reyes, and C. A. Coello Coello, “A Comparative Study of Differential Evolution Variants for Global Optimization,” in Proceedings of the 8th Annual Conference on Genetic and Evolutionary Computation , ser. GECCO ’06. New York, NY, USA: Association for Computing Machinery, 2006, pp. 485–492. [Online]. Available: https://doi.org/10.1145/1143997.1144086
Original
2006
Earlier work this paper cites.
S. Koos, J.-B. Mouret, and S. Doncieux, “Crossing the reality gap in evolutionary robotics by promoting transferable controllers,” in Proceedings of the 12th annual conference on Genetic and evolutionary computation - GECCO ’10 , 2010, p. 119. [Online]. Available: http://portal.acm.org/citation.cfm?doid=1830483.1830505
2010
Earlier work this paper cites.
S. Das and P. N. Suganthan, “Differential Evolution: A Survey of the State-of-the-Art,” IEEE Transactions on Evolutionary Computation , vol. 15, no. 1, pp. 4–31, 2011
2011
Earlier work this paper cites.

Similar

J. Snoek, H. Larochelle, and R. P. Adams, “Practical Bayesian Optimization of Machine Learning Algorithms,” in Proceedings of the 25th International Conference on Neural Information Processing Systems - Volume 2 , ser. NIPS’12. Red Hook, NY, USA: Curran Associates Inc., 2012, pp. 2951–2959
2012
Cited alongside, same era.
R. Moeckel, Y. N. Perov, A. T. Nguyen, M. Vespignani, S. Bonardi, S. Pouya, A. Sproewitz, J. v. d. Kieboom, F. Wilhelm, and A. J. Ijspeert, “Gait optimization for roombots modular robots — Matching simulation and reality,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems , 2013, pp. 3265–3272
2013
Cited alongside, same era.
Z. Wang, M. Zoghi, F. Hutter, D. Matheson, and N. De Freitas, “Bayesian Optimization in High Dimensions via Random Embeddings,” in Proceedings of the Twenty-Third International Joint Conference on Artificial Intelligence , ser. IJCAI ’13. AAAI Press, 2013, pp. 1778–1784
2013
Cited alongside, same era.

Then

J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke, “Sim-to-Real: Learning Agile Locomotion For Quadruped Robots,” 4 2018. [Online]. Available: http://arxiv.org/abs/1804.10332
Original
2018
Later among the works it cites.
M. Andrychowicz, B. Baker, M. Chociej, R. Jozefowicz, B. McGrew, J. Pachocki, A. Petron, M. Plappert, G. Powell, A. Ray, and others, “Learning dexterous in-hand manipulation,” arXiv preprint arXiv:1808.00177 , 2018
Original
2018
Later among the works it cites.
J. Tremblay, A. Prakash, D. Acuna, M. Brophy, V. Jampani, C. Anil, T. To, E. Cameracci, S. Boochoon, and S. Birchfield, “Training Deep Networks with Synthetic Data: Bridging the Reality Gap by Domain Randomization,” 2018
2018
Later among the works it cites.
X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel, “Sim-to-real transfer of robotic control with dynamics randomization,” in 2018 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2018, pp. 1–8
2018

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alphaXiv searches the wider corpus for related work and actual follow-ups.

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Reading the bibliography…

2020

Traversing the Reality Gap via Simulator Tuning

Collins, Jack, Brown, Ross, Leitner, Jurgen et al.

Understand

The large demand for simulated data has made the reality gap a problem on the forefront of robotics.

We propose a method to traverse the gap by tuning available simulation parameters.
Through the optimisation of physics engine parameters, we show that we are able to narrow the gap between simulated solutions and a real world dataset, and thus allow more ready transfer of leaned behaviours between the two.
We subsequently gain understanding as to the importance of specific simulator parameters, which is of broad interest to the robotic machine learning community.

Built on

S. James, M. Freese, and A. J. Davison, “PyRep: Bringing V-REP to Deep Robot Learning,” 6 2019. [Online]. Available: http://arxiv.org/abs/1906.11176
Original
1906
Earlier work this paper cites.
OpenAI, I. Akkaya, M. Andrychowicz, M. Chociej, M. Litwin, B. McGrew, A. Petron, A. Paino, M. Plappert, G. Powell, R. Ribas, J. Schneider, N. Tezak, J. Tworek, P. Welinder, L. Weng, Q. Yuan, W. Zaremba, and L. Zhang, “Solving Rubik’s Cube with a Robot Hand,” 10 2019. [Online]. Available: http://arxiv.org/abs/1910.07113
Original
1910
Earlier work this paper cites.
M. Gautier and W. Khalil, “On the identification of the inertial parameters of robots,” in Proceedings of the 27th IEEE Conference on Decision and Control , 1988, pp. 2264–2269
1988
Earlier work this paper cites.
N. Jakobi, P. Husbands, and I. Harvey, “Noise and the reality gap: The use of simulation in evolutionary robotics,” in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) . Springer, Berlin, Heidelberg, 1995, vol. 929, pp. 704–720. [Online]. Available: http://link.springer.com/10.1007/3-540-59496-5_337
1995
Earlier work this paper cites.
R. Storn and K. Price, “Differential Evolution – A Simple and Efficient Heuristic for global Optimization over Continuous Spaces,” Journal of Global Optimization , vol. 11, no. 4, pp. 341–359, 1997. [Online]. Available: https://doi.org/10.1023/A:1008202821328
1997
Earlier work this paper cites.
R. L. Williams, B. E. Carter, P. Gallina, and G. Rosati, “Dynamic model with slip for wheeled omnidirectional robots,” IEEE Transactions on Robotics and Automation , vol. 18, no. 3, pp. 285–293, 2002
2002
Earlier work this paper cites.
R. Smith, “Open dynamics engine,” 2005. [Online]. Available: https://www.ode.org/
2005
Earlier work this paper cites.
J. Ronkkonen, S. Kukkonen, and K. V. Price, “Real-parameter optimization with differential evolution,” in 2005 IEEE Congress on Evolutionary Computation , vol. 1, 2005, pp. 506–513
2005
Earlier work this paper cites.
E. Mezura-Montes, J. Velázquez-Reyes, and C. A. Coello Coello, “A Comparative Study of Differential Evolution Variants for Global Optimization,” in Proceedings of the 8th Annual Conference on Genetic and Evolutionary Computation , ser. GECCO ’06. New York, NY, USA: Association for Computing Machinery, 2006, pp. 485–492. [Online]. Available: https://doi.org/10.1145/1143997.1144086
Original
2006
Earlier work this paper cites.
S. Koos, J.-B. Mouret, and S. Doncieux, “Crossing the reality gap in evolutionary robotics by promoting transferable controllers,” in Proceedings of the 12th annual conference on Genetic and evolutionary computation - GECCO ’10 , 2010, p. 119. [Online]. Available: http://portal.acm.org/citation.cfm?doid=1830483.1830505
2010
Earlier work this paper cites.
S. Das and P. N. Suganthan, “Differential Evolution: A Survey of the State-of-the-Art,” IEEE Transactions on Evolutionary Computation , vol. 15, no. 1, pp. 4–31, 2011
2011
Earlier work this paper cites.

Similar

J. Snoek, H. Larochelle, and R. P. Adams, “Practical Bayesian Optimization of Machine Learning Algorithms,” in Proceedings of the 25th International Conference on Neural Information Processing Systems - Volume 2 , ser. NIPS’12. Red Hook, NY, USA: Curran Associates Inc., 2012, pp. 2951–2959
2012
Cited alongside, same era.
R. Moeckel, Y. N. Perov, A. T. Nguyen, M. Vespignani, S. Bonardi, S. Pouya, A. Sproewitz, J. v. d. Kieboom, F. Wilhelm, and A. J. Ijspeert, “Gait optimization for roombots modular robots — Matching simulation and reality,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems , 2013, pp. 3265–3272
2013
Cited alongside, same era.
Z. Wang, M. Zoghi, F. Hutter, D. Matheson, and N. De Freitas, “Bayesian Optimization in High Dimensions via Random Embeddings,” in Proceedings of the Twenty-Third International Joint Conference on Artificial Intelligence , ser. IJCAI ’13. AAAI Press, 2013, pp. 1778–1784
2013
Cited alongside, same era.

Then

J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke, “Sim-to-Real: Learning Agile Locomotion For Quadruped Robots,” 4 2018. [Online]. Available: http://arxiv.org/abs/1804.10332
Original
2018
Later among the works it cites.
M. Andrychowicz, B. Baker, M. Chociej, R. Jozefowicz, B. McGrew, J. Pachocki, A. Petron, M. Plappert, G. Powell, A. Ray, and others, “Learning dexterous in-hand manipulation,” arXiv preprint arXiv:1808.00177 , 2018
Original
2018
Later among the works it cites.
J. Tremblay, A. Prakash, D. Acuna, M. Brophy, V. Jampani, C. Anil, T. To, E. Cameracci, S. Boochoon, and S. Birchfield, “Training Deep Networks with Synthetic Data: Bridging the Reality Gap by Domain Randomization,” 2018
2018
Later among the works it cites.
X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel, “Sim-to-real transfer of robotic control with dynamics randomization,” in 2018 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2018, pp. 1–8
2018

Beyond the bibliography

alphaXiv searches the wider corpus for related work and actual follow-ups.

Open on alphaXiv

alphaXiv is searching for related work…

E. Rohmer, S. P. Singh, and M. Freese, “V-REP: A versatile and scalable robot simulation framework,” in IEEE International Conference on Intelligent Robots and Systems . IEEE, 11 2013, pp. 1321–1326. [Online]. Available: http://ieeexplore.ieee.org/document/6696520/

2013

Cited alongside, same era.

D. Howard and T. Merz, “A platform for the direct hardware evolution of quadcopter controllers,” in IEEE International Conference on Intelligent Robots and Systems , vol. 2015-Decem. IEEE, 9 2015, pp. 4614–4619. [Online]. Available: http://ieeexplore.ieee.org/document/7354034/

2015

Cited alongside, same era.

M. Torres-Torriti, T. Arredondo, and P. Castillo-Pizarro, “Survey and comparative study of free simulation software for mobile robots,” Robotica , vol. 34, no. 4, pp. 791–822, 2016

2016

Cited alongside, same era.

E. Coumans and Y. Bai, “Pybullet, a Python Module for Physics Simulation for Games, Robotics and Machine Learning,” 2016. [Online]. Available: https://pybullet.org

2016

Cited alongside, same era.

J. Tan, Z. Xie, B. Boots, and C. K. Liu, “Simulation-based design of dynamic controllers for humanoid balancing,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2016, pp. 2729–2736

2016

Cited alongside, same era.

H. Heijnen, D. Howard, and N. Kottege, “A testbed that evolves hexapod controllers in hardware,” in Proceedings - IEEE International Conference on Robotics and Automation . IEEE, 5 2017, pp. 1065–1071. [Online]. Available: http://ieeexplore.ieee.org/document/7989128/

2017

Cited alongside, same era.

A. P. Piotrowski, “Review of Differential Evolution population size,” Swarm and Evolutionary Computation , vol. 32, pp. 1–24, 2017. [Online]. Available: http://www.sciencedirect.com/science/article/pii/S2210650216300268

2017

Cited alongside, same era.

J. Lee, M. Grey, S. Ha, T. Kunz, S. Jain, Y. Ye, S. Srinivasa, M. Stilman, and C. Liu, “DART: Dynamic Animation and Robotics Toolkit,” Journal of Open Source Software , vol. 3, no. 22, p. 500, 2018. [Online]. Available: https://doi.org/10.21105/joss.00500

2018

Cited alongside, same era.