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The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales

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arxiv 2310.08233 v1 pith:EBVMZFFC submitted 2023-10-12 cs.RO cs.AI

The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales

Minh Q. Ta , Holly Dinkel , Hameed Abdul-Rashid , Yangfei Dai , Jessica Myers , Tan Chen , Junyi Geng , Timothy Bretl This is my paper
classification cs.RO cs.AI
keywords simulationfrequencyroboticsteptimeaccuracyimpactimprove
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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This work evaluates the impact of time step frequency and component scale on robotic manipulation simulation accuracy. Increasing the time step frequency for small-scale objects is shown to improve simulation accuracy. This simulation, demonstrating pre-assembly part picking for two object geometries, serves as a starting point for discussing how to improve Sim2Real transfer in robotic assembly processes.

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