An architecture for sim-to-real and real-to-sim experimentation in robotic systems

Vrabič, Rok (author), Škulj, Gašper (author), Malus, Andreja (author), Kozjek, Dominik (author), Selak, Luka (author), Bračun, Drago (author), Podržaj, Primož (author)

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.

• Language: English
• Keywords: robotics, simulation, machine learning, reinforcement learning, digital twin
• Work type: Article
• Typology: 1.08 - Published Scientific Conference Contribution
• Organization: FS - Faculty of Mechanical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2021
• Number of pages: Str. 336-341
• Numbering: Vol. 104
• PID: 20.500.12556/RUL-134763
• UDC: 007.52
• ISSN on article: 2212-8271
• DOI: 10.1016/j.procir.2021.11.057
• COBISS.SI-ID: 95688963
• Publication date in RUL: 31.01.2022

Record is a part of a proceedings

• Title: Towards digitalized manufacturing 4.0
• COBISS.SI-ID: 95681795

Record is a part of a journal

• Title: Procedia CIRP
• Publisher: Elsevier
• ISSN: 2212-8271
• COBISS.SI-ID: 12981019

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
• Licensing start date: 26.11.2021
• Applies to: Available online

Secondary language

• Language: Slovenian
• Keywords: robotika, simulacija, strojno učenje, spodbujevalno učenje, digitalni dvojčki

Projects

• Funder: ARRS - Slovenian Research Agency
• Project number: P2-0270
• Name: Proizvodni sistemi, laserske tehnologije in spajanje materialov

• Funder: EC - European Commission
• Funding programme: H2020
• Project number: 732287
• Name: ROS-Industrial quality-assured robot software components
• Acronym: ROSIN