Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap

Code

• github.com/google-research/tiny-differentiable-simulator
  OfficialIn papernone★ 1,352

Abstract

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.

Reproductions