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Assessing the Reality Gap of Robotic Simulations with Educational Purposes

Júlia D. T. de Souza; Pedro J. L. Silva; Adam H. M. Pinto; Filipe F. Monteiro; Joao Marcelo Teixeira;

Assessing the Reality Gap of Robotic Simulations with Educational Purposes

Abstract

The use of simulation and visualization tools to validate mechanical designs and programming for robots has become increasingly important. Being used in many scenarios, simulators have collaborated for research in machine learning, deep learning and training of professionals. Nowadays, with the Covid-19 pandemic and social distancing, simulators have great potential as a tool to help in the teaching of robotics. However, research indicates that the user may encounter differences between what happens in the simulator and in real life, this effect is called reality gap. This article aims to investigate the effects of this gap in an educational robotics simulator, named Virtual Robotics Toolkit (VRT), as well as its impacts on the testing of algorithms and to propose strategies to reduce the impact of this effect. Three batch tests were carried out on two different robots, both in the simulation and in the real world. By capturing data from sensors such as tachometer, infrared, gyroscope and a light sensor, it was possible to compare the performance in the two scenarios and their differences. Finally, the entire test field and models were made available along with videos of some tests.

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Microsoft Academic Graph classification: Educational robotics Deep learning Visualization Robotics Field (computer science) Human–computer interaction Robot Computer science Artificial intelligence business.industry business Gyroscope law.invention law Tachometer

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    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Average
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Average
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popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
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