20.500.12556/RUL-134763 An architecture for sim-to-real and real-to-sim experimentation in robotic systems Research in the area of robotic systems has greatly benefited from the use of simulation models. Recent approaches allow the transfer of developed algorithms from simulation to reality (sim-to-real) and increasingly accurate representations of real systems as simulation models (real-to-sim). The paper presents an architecture based on open software that supports simultaneous experiments on real robots and their simulation models. Two illustrative examples are shown: a digital twin of an industrial robot and a sim-to-real transfer in an autonomous mobile robot system. The possibilities of future research on the interaction between robotic systems and their simulation models are discussed. robotics simulation machine learning reinforcement learning digital twin robotika simulacija strojno učenje spodbujevalno učenje digitalni dvojčki true false true Angleški jezik Slovenski jezik Članek v reviji 2022-01-31 14:13:41 2022-01-31 14:13:45 2022-09-14 04:09:46 0000-00-00 00:00:00 2021 0 0 Str. 336-341 Vol. 104 2021 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52 2212-8271 10.1016/j.procir.2021.11.057 95688963 95681795 RAZ_Vrabic_Rok_2021.pdf RAZ_Vrabic_Rok_2021.pdf 1 4D5DA83BD17F6438A8CBFDDDE0C8064E b80bd5a31825d51acf025de46dd2a98dff709f078466034d1f00d72db0f9a09a 088c27bc-8298-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=153391 https://www.sciencedirect.com/science/article/pii/S2212827121009550 1 67ecb1fd-8297-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=153390 Fakulteta za strojništvo 0 0 0