What’s Open Sim2Real¶
Open Sim2Real is a open source project striving to develop a simple inexpensive platform for Sim2Real research.
The platform consists of a inexpensive single leg robot constrained to an approximate plane, and the corresponding simulation. Both the sim and real components support training within the gym framework (limited by real-time constraints on physical robot). In other words this project provides an open source, simple foundation for future Sim2Real platforms to build on top of.
There are well documented build instructions for the physical monopod, additionally instructions on how to install the software stack, set up training on cloud, basic gym tasks and reward functions, and much more. The project builds on top of many tools researchers are already familiar with making the transition into real natural (those dang simulations need to touch grass).
Why Open Sim2Real¶
The ability to do Sim2Real research is currently heavily limited by the lack of inexpensive, low barrier of entry physical platforms. Currently most modern Sim2Real involves expensive, large robots that are custom made by the research group. For most RL groups manufacturing a custom robot is either too cumbersome or expensive, or limited by the knowledge gap between robotics and machine learning.
By providing an open source complete platform for Sim2Real research that is relatively inexpensive we believe it will open doors for research groups otherwise limited to simulation.
This project provides three main features:
Physical Robot with corresponding low-level drivers
Simulation of the robot using ignition gazebo with corresponding openAI gym environment, gym-os2r.
Real-time backend, scenario_monopod, that links between simulation and real components with the ability to train in real.
Check the sections What is open Sim2Real, and high level architecture for a more detailed look into the motivation, and structure of the project.
For a practical introduction into our platform, visit the simulated monopod and physical monopod sections.
If you use this project for your research, please check how to cite.