Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots

Jane Holland; Ciaran Gallagher; Josephine Griffith; Colm O'Riordan

doi:10.1109/ROBIO.2018.8665178

Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots

Jane Holland, Ciaran Gallagher, Josephine Griffith, Colm O'Riordan

Computer Science

University of Galway

Research output: Chapter in Book or Conference Publication/Proceeding › Conference Publication › peer-review

4 Citations (Scopus)

Abstract

A common challenge in evolutionary swarm robotics is the transfer of simulated results into real-world applications. This difficulty can arise in a variety of real-world settings and problems such as sensory differences in robots and changes in the environment. We identify this reality gap at a simulation level by comparing the evolved behaviours of simulated Kilobots in two different models with different levels of abstraction. Our aim is to identify the reality gap that occurs at simulation level by increasing the task difficulty and noting differences in outcomes. Insights gained in this process may help rule out any further causes of reality gap when moving to experiments with physical robots.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	224-230
Number of pages	7
ISBN (Electronic)	9781728103761
DOIs	https://doi.org/10.1109/ROBIO.2018.8665178
Publication status	Published - 2 Jul 2018
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018

Publication series

Name	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18

Access to Document

10.1109/ROBIO.2018.8665178

Cite this

Holland, J., Gallagher, C., Griffith, J., & O'Riordan, C. (2018). Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 224-230). Article 8665178 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8665178

Holland, Jane ; Gallagher, Ciaran ; Griffith, Josephine et al. / Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 224-230 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

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title = "Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots",

abstract = "A common challenge in evolutionary swarm robotics is the transfer of simulated results into real-world applications. This difficulty can arise in a variety of real-world settings and problems such as sensory differences in robots and changes in the environment. We identify this reality gap at a simulation level by comparing the evolved behaviours of simulated Kilobots in two different models with different levels of abstraction. Our aim is to identify the reality gap that occurs at simulation level by increasing the task difficulty and noting differences in outcomes. Insights gained in this process may help rule out any further causes of reality gap when moving to experiments with physical robots.",

author = "Jane Holland and Ciaran Gallagher and Josephine Griffith and Colm O'Riordan",

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year = "2018",

month = jul,

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doi = "10.1109/ROBIO.2018.8665178",

language = "English",

series = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

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Holland, J, Gallagher, C, Griffith, J & O'Riordan, C 2018, Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8665178, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 224-230, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8665178

Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots. / Holland, Jane; Gallagher, Ciaran; Griffith, Josephine et al.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 224-230 8665178 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book or Conference Publication/Proceeding › Conference Publication › peer-review

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AB - A common challenge in evolutionary swarm robotics is the transfer of simulated results into real-world applications. This difficulty can arise in a variety of real-world settings and problems such as sensory differences in robots and changes in the environment. We identify this reality gap at a simulation level by comparing the evolved behaviours of simulated Kilobots in two different models with different levels of abstraction. Our aim is to identify the reality gap that occurs at simulation level by increasing the task difficulty and noting differences in outcomes. Insights gained in this process may help rule out any further causes of reality gap when moving to experiments with physical robots.

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Holland J, Gallagher C, Griffith J , O'Riordan C. Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 224-230. 8665178. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). doi: 10.1109/ROBIO.2018.8665178

Identifying the Reality Gap between Abstract and Realistic Models Using Evolved Agents and Simulated Kilobots

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