Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation
SAPIEN Realistic depth lowers the sim-to-real gap of simulated depth and real active stereovision depth sensors, by designing a fully physics-grounded pipeline. Perception and RL methods trained in simulation can transfer well to the real world without any fine-tuning. It can also estimate the algorithm performance in the real world, largely reducing human effort of algorithm evaluation.
Jan 27, 2023
