In: European Conference on Artificial Life, pp. 704–720. Jakobi, N., Husbands, P., Harvey, I.: Noise and the reality gap: the use of simulation in evolutionary robotics. UW-Madison Simulation Based Engineering Laboratory: Supporting simulations. UW-Madison Simulation Based Engineering Laboratory: Supporting models, scripts, data. Animations associated with the tests run are available online (UW-Madison Simulation Based Engineering Laboratory, Supporting simulations,, 2021). The results reported herein can be reproduced with models and data available in a public repository (UW-Madison Simulation Based Engineering Laboratory, Supporting models, scripts, data,, 2021). To the best of our knowledge, there is no other open-source, physics-based engine that can be used to simulate off-road mobility of autonomous agents operating on deformable terrains. non-deformable, deformable hard (silt-like), deformable soft (snow-like), etc. The hilly terrain covers an 80×80 m patch and the soil can be controlled by the user to assume various behavior, e.g. For \((ii)\), we use a Gator off-road vehicle to demonstrate how a policy learned on non-deformable terrain performs when used in hilly conditions while navigating around a course of randomly placed obstacles on deformable terrain. The library has a Python API for interfacing with existing Machine Learning frameworks. For ( \(i\)), the 0.5 million lines of open-source code support vehicle dynamics (wheeled/tracked vehicles, rovers), deformable & non-deformable terrains, and virtual sensing. This contribution ( \(i\)) describes an open-source, physics-based simulation infrastructure that can be used to learn and test control policies in off-road navigation and ( \(ii\)) demonstrates the use of the simulation platform in an end-to-end learning exercise that relies on simulated sensor data fusion (camera, GPS and IMU).
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |