缩小 Sim2Real 差距:为自动驾驶堆提供多功能开发和验证平台
J Felipe Arango1, Rodrigo Gutiérrez-Moreno1, Pedro A Revenga1
1Electronics Department, University of Alcalá, 28805 Alcalá de Henares, Spain.
Sensors (Basel, Switzerland)
|February 27, 2026
概括
弥合自动驾驶中的模拟与现实差距需要解决现实和性能差异. 我们的"关闭现实和性能差距的方法" (MCRPG) 和"开发和验证平台" (DVP) 提供了一个结构化的方法来实现强大的Sim2Real传输.
科学领域:
- 机器人技术和自主系统
- 计算机科学 计算机科学
- 人工智能的人工智能
背景情况:
- 自动驾驶堆 (ADS) 面临着从模拟转移到现实世界的重大挑战.
- 现实差距 (RG) 和性能差距 (PG) 阻碍了无的Sim2Real集成.
- 现有的验证方法往往无法同时解决RG和PG的问题.
研究的目的:
- 为自动驾驶引入一种新的关闭现实和性能差距的方法 (MCRPG).
- 为Sim2Real研究提供一个开源的开发和验证平台 (DVP).
- 建立一个结构化,代的框架,使模拟和现实世界ADS行为和性能保持一致.
主要方法:
- MCRPG采用了三个阶段的方法:数字双胞胎,并行执行和现实世界验证.
- 通过参数调整和跨领域指标实现了RG和PG的联合减少.
- 为了验证,使用了包括现实对齐 (MNCC) 和自我车辆性能在内的两级度量套件.
主要成果:
- 实验表明模拟和现实世界ADS行为之间的趋同.
- 在整个分阶段验证过程中观察到持续的性能改进.
- 该MCRPG和DVP框架促进了强大的和可扩展的Sim2Real传输.
结论:
- MCRPG提供了一个有效的框架,以共同减少自动驾驶中的现实和性能差距.
- 开源的DVP可以实现可访问和可复制的Sim2Real研究.
- 拟议的方法提高了自主导航技术的可靠性和安全性.
关键词:
在CARLA模拟器上Sim2Real转移是一个真实的转移.自动驾驶堆自动驾驶堆开发和验证平台 (DVP)数字双胞胎数字双胞胎是什么意思平行执行并行执行.绩效差距是表现差距的一个原因.在现实世界中进行测试.现实差距 现实差距 差距 差距机器人操作系统 (ROS)更多相关视频
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