The simulation gap between a nominal model and a high-fidelity simulator is quantified as a state and input dependent bound via convex optimization and Lipschitz constants, then used for symbolic controller synthesis.
MuJoCo: A physics engine for model-based control
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Towards Mitigating Sim2Real Gaps: A Formal Quantitative Approach
The simulation gap between a nominal model and a high-fidelity simulator is quantified as a state and input dependent bound via convex optimization and Lipschitz constants, then used for symbolic controller synthesis.