5 ms·
getting things like this to transfer well is not necessarily easy, it’s a major active area of research. even if you somehow had a perfect physics model, there
by currymj 7y ago
getting things like this to transfer well is not necessarily easy, it’s a major active area of research.
even if you somehow had a perfect physics model, there are problems like the fact that motors and joints behave differently as they wear down, etc.
it might be easier for wheeled vehicles — usually the examples of failure are complicated, error-prone things like bipedal walking, hands with lots of joints.
- lutorm 7y agoYeah the trick is knowing what the performance of the as-built vehicle will be before building it. You can to some extent marginalize over this by running randomized trials with different parameters for your mechanisms so that you verify that you're not too sensitive to the exact setup. The control system needs to be fairly robust to such variations. But you still don't know that you've modeled all the physics correctly until it's actually flight-proven. Picking the correct degree of fidelity in a simulation model isn't super straightforward.
- TaylorAlexander 7y agoMy thinking is that if your sim is kinda realistic, then once it works you can fine tune on some (expensive) real hand labeled data. But the sim helps you develop the training process etc.