In this letter, the authors propose a two-step approach to evaluate and verify a true system's capacity to satisfy its operational objective. Specifically, whenever the system objective has a quantifiable measure of satisfaction, i.e. a signal temporal logic specification, a barrier function, etc - the authors develop two separate optimization problems solvable via a Bayesian Optimization procedure detailed within. This dual approach has the added benefit of quantifying the Sim2Real Gap between a system simulator and its hardware counterpart. Our contributions are twofold. First, we show repeatability with respect to our outlined optimization procedure in solving these optimization problems. Second, we show that the same procedure can discriminate between different environments by identifying the Sim2Real Gap between a simulator and its hardware counterpart operating in different environments.
翻译:在这封信中,作者提出分两步评价和核实一个真正的系统实现其运作目标的能力。具体地说,只要系统目标具有量化的满意度,即信号时间逻辑规格、屏障功能等,作者就提出两个单独的优化问题,可以通过Bayesian优化程序解决。这一双重方法还具有将系统模拟器与其硬件对口方之间的Sim2Real差距量化的附加好处。我们的贡献是双重的。首先,我们表明在解决这些优化问题时,我们提出的优化程序具有重复性。第二,我们通过确定在不同环境中运行的模拟器与其硬件对口方之间的Sim2Real差距,来表明相同的程序可以区分不同的环境。