Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous improvement of modeling and control after deploying the rob...

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Bibliographische Detailangaben

Hauptverfasser:	Chen, Sirui, Werling, Keenon, Wu, Albert, Liu, C. Karen
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Graphics Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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