Quantification of Sim2Real Gap via Neural Simulation Gap Function

P Sangeerth; Pushpak Jagtap

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arXiv · 2506.17675

Quantification of Sim2Real Gap via Neural Simulation Gap Function

P Sangeerth·Pushpak Jagtap

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Abstract

In this paper, we introduce the notion of neural simulation gap functions, which formally quantifies the gap between the mathematical model and the model in the high-fidelity simulator, which closely resembles reality. Many times, a controller designed for a mathematical model does not work in reality because of the unmodelled gap between the two systems. With the help of this simulation gap function, one can use existing model-based tools to design controllers for the mathematical system and formally guarantee a decent transition from the simulation to the real world. Although in this work, we have quantified this gap using a neural network, which is trained using a finite number of data points, we give formal guarantees on the simulation gap function for the entire state space including the unseen data points. We collect data from high-fidelity simulators leveraging recent advancements in Real-to-Sim transfer to ensure close alignment with reality. We demonstrate our results through two case studies - a Mecanum bot and a Pendulum.

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P Sangeerth, Pushpak Jagtap. 2025-06-21. Quantification of Sim2Real Gap via Neural Simulation Gap Function. https://arxiv.org/abs/2506.17675

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