Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap

07/12/2020

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by   Eric Heiden, et al.

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We present a differentiable simulation architecture for articulated rigid-body dynamics that enables the augmentation of analytical models with neural networks at any point of the computation. Through gradient-based optimization, identification of the simulation parameters and network weights is performed efficiently in preliminary experiments on a real-world dataset and in sim2sim transfer applications, while poor local optima are overcome through a random search approach.