Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots
Kun Wang,Mridul Aanjaneya,Kostas Bekris,Kun Wang,Mridul Aanjaneya,Kostas Bekris
Learning policies in simulation is promising for reducing human effort when training robot controllers. This is especially true for soft robots that are more adaptive and safe but also more difficult to accurately model and control. The sim2real gap is the main barrier to successfully transfer policies from simulation to a real robot. System identification can be applied to reduce this gap but tra...
