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Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification

Akella, Prithvi and Ubellacker, Wyatt and Ames, Aaron D. (2022) Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. . (Unpublished)

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In this letter, the authors propose a two-step approach to evaluate and verify a true system's capacity to satisfy its operational objective. Specifically, whenever the system objective has a quantifiable measure of satisfaction, i.e. a signal temporal logic specification, a barrier function, etc - the authors develop two separate optimization problems solvable via a Bayesian Optimization procedure detailed within. This dual approach has the added benefit of quantifying the Sim2Real Gap between a system simulator and its hardware counterpart. Our contributions are twofold. First, we show repeatability with respect to our outlined optimization procedure in solving these optimization problems. Second, we show that the same procedure can discriminate between different environments by identifying the Sim2Real Gap between a simulator and its hardware counterpart operating in different environments.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Akella, Prithvi0000-0003-4375-0015
Ubellacker, Wyatt0000-0002-4732-6185
Ames, Aaron D.0000-0003-0848-3177
Additional Information:Attribution 4.0 International (CC BY 4.0). This work was supported by AFOSR (FA9550-19-1-0302) and Dow (#227027AT).
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-19-1-0302
Dow Chemical Company227027AT
Record Number:CaltechAUTHORS:20220224-200847369
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:113590
Deposited By: George Porter
Deposited On:28 Feb 2022 17:31
Last Modified:28 Feb 2022 17:31

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