Informationally Decoupled Trajectory Design for Sim-to-Real
Overview
A new framework, IDTD, improves parameter estimation accuracy by 39.6% using Schur complement and Fisher information matrix in sim-to-real system identification, validated on simulations and a real K1 robot.
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- arXiv Robotics — research abstractsInformationally Decoupled Trajectory Design for Sim-to-Real System Identification
This research proposes IDTD, a framework for trajectory design in sim-to-real system identification. By leveraging the Schur complement score and Fisher information matrix, IDTD decouples parameter effects, improving parameter estimation accuracy by 39.6% compared to existing methods. The approach is validated across multiple simulation environments and a real K1 humanoid robot.
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