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- W2895197880 abstract "One issue in the automatic design of control software for robot swarms is the so-called reality gap—the difference between reality and the simulation models used in the automatic design process. It is commonly understood that the reality gap manifests itself as a drop in performance when control software developed in simulation is used to control physical robots. Yet, often disregarded is the relative nature of this performance drop: the reality gap does not affect equally all instances of control software. Indeed, one might observe a rank inversion: control software A might perform better than control software B in simulation, but perform worse on robots. The possibility of rank inversion undermines any performance comparison made in simulation. It would thus seem the only way to assess control software is in robot experiments, which are costly and time consuming. We argue it is unnecessary to assume reality is more complex than simulation models for the effects of the reality gap to occur. Indeed, we show that performance drop and rank inversion can occur if one automatically designs control software in simulation using a model and then assesses it in simulation on another model—what we call a pseudo-reality. Our results suggest that an appropriately conceived pseudo-reality could be used to test automatically-generated control software for performance drop and rank inversion, without performing robot experiments." @default.
- W2895197880 created "2018-10-12" @default.
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- W2895197880 date "2018-01-01" @default.
- W2895197880 modified "2023-09-26" @default.
- W2895197880 title "On Mimicking the Effects of the Reality Gap with Simulation-Only Experiments" @default.
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- W2895197880 doi "https://doi.org/10.1007/978-3-030-00533-7_9" @default.
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