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Unsupervised Sim-to-Real Adaptation of Soft Robot Proprioception using a Dual Cross-modal Autoencoder
Description
Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it necessary to devise a calibration process. These requirements can be greatly benefited by adopting numerical simulation for computational efficiency. However, the gap between the simulated and real domains limits the accurate, generalized application of the approa