{"id":"https://openalex.org/W2982485184","doi":"https://doi.org/10.1109/icra40945.2020.9196539","title":"Sim2real gap is non-monotonic with robot complexity for morphology-in-the-loop flapping wing design","display_name":"Sim2real gap is non-monotonic with robot complexity for morphology-in-the-loop flapping wing design","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2982485184","doi":"https://doi.org/10.1109/icra40945.2020.9196539","mag":"2982485184"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.13790","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027967877","display_name":"Kent Rosser","orcid":"https://orcid.org/0000-0003-4017-6396"},"institutions":[{"id":"https://openalex.org/I1303474014","display_name":"Defence Science and Technology Group","ror":"https://ror.org/05ddrvt52","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1303474014","https://openalex.org/I2801453606","https://openalex.org/I3139952251"]},{"id":"https://openalex.org/I40053085","display_name":"Australian Defence Force Academy","ror":"https://ror.org/02j5s7g39","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I40053085","https://openalex.org/I4394709116"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Kent Rosser","raw_affiliation_strings":["Defence Science and Technology Group, Australia","Australian Defence Force"],"affiliations":[{"raw_affiliation_string":"Defence Science and Technology Group, Australia","institution_ids":["https://openalex.org/I1303474014"]},{"raw_affiliation_string":"Australian Defence Force","institution_ids":["https://openalex.org/I40053085"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037820786","display_name":"Jia Ming Kok","orcid":null},"institutions":[{"id":"https://openalex.org/I1303474014","display_name":"Defence Science and Technology Group","ror":"https://ror.org/05ddrvt52","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1303474014","https://openalex.org/I2801453606","https://openalex.org/I3139952251"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jia Kok","raw_affiliation_strings":["Defence Science and Technology Group, Australia","Defence Science and Technology Group,Australia"],"affiliations":[{"raw_affiliation_string":"Defence Science and Technology Group, Australia","institution_ids":["https://openalex.org/I1303474014"]},{"raw_affiliation_string":"Defence Science and Technology Group,Australia","institution_ids":["https://openalex.org/I1303474014"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090327828","display_name":"Javaan Chahl","orcid":"https://orcid.org/0000-0001-6496-0543"},"institutions":[{"id":"https://openalex.org/I170239107","display_name":"University of South Australia","ror":"https://ror.org/01p93h210","country_code":"AU","type":"education","lineage":["https://openalex.org/I170239107"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Javaan Chahl","raw_affiliation_strings":["University of South Australia, Australia","Univ of South Australia (Australia)"],"affiliations":[{"raw_affiliation_string":"University of South Australia, Australia","institution_ids":["https://openalex.org/I170239107"]},{"raw_affiliation_string":"Univ of South Australia (Australia)","institution_ids":["https://openalex.org/I170239107"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066791342","display_name":"Josh Bongard","orcid":"https://orcid.org/0000-0001-8515-0822"},"institutions":[{"id":"https://openalex.org/I111236770","display_name":"University of Vermont","ror":"https://ror.org/0155zta11","country_code":"US","type":"education","lineage":["https://openalex.org/I111236770"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Josh Bongard","raw_affiliation_strings":["University of Vermont, VT, USA"],"affiliations":[{"raw_affiliation_string":"University of Vermont, VT, USA","institution_ids":["https://openalex.org/I111236770"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027967877"],"corresponding_institution_ids":["https://openalex.org/I1303474014","https://openalex.org/I40053085"],"apc_list":null,"apc_paid":null,"fwci":1.5713,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91181369,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"7001","last_page":"7007"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12014","display_name":"Fish biology, ecology, and behavior","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2309","display_name":"Nature and Landscape Conservation"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10302","display_name":"Fish Ecology and Management Studies","score":0.9751999974250793,"subfield":{"id":"https://openalex.org/subfields/2309","display_name":"Nature and Landscape Conservation"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.6559025049209595},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.6033648252487183},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5630720257759094},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5610844492912292},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5517221093177795},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5515312552452087},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.5269278287887573},{"id":"https://openalex.org/keywords/monotonic-function","display_name":"Monotonic function","score":0.4872931241989136},{"id":"https://openalex.org/keywords/morphology","display_name":"Morphology (biology)","score":0.4793575406074524},{"id":"https://openalex.org/keywords/engineering-design-process","display_name":"Engineering design process","score":0.4194277822971344},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.41629624366760254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36132559180259705},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3545779883861542},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28074944019317627},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25141340494155884},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2124851644039154},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11256846785545349}],"concepts":[{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.6559025049209595},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.6033648252487183},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5630720257759094},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5610844492912292},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5517221093177795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5515312552452087},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.5269278287887573},{"id":"https://openalex.org/C72169020","wikidata":"https://www.wikidata.org/wiki/Q194404","display_name":"Monotonic function","level":2,"score":0.4872931241989136},{"id":"https://openalex.org/C499950583","wikidata":"https://www.wikidata.org/wiki/Q183252","display_name":"Morphology (biology)","level":2,"score":0.4793575406074524},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.4194277822971344},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.41629624366760254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36132559180259705},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3545779883861542},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28074944019317627},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25141340494155884},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2124851644039154},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11256846785545349},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.13790","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.13790","pdf_url":"https://arxiv.org/pdf/1910.13790","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.1910.13790","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.13790","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:2982485184","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.13790","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.13790","pdf_url":"https://arxiv.org/pdf/1910.13790","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2982485184.pdf","grobid_xml":"https://content.openalex.org/works/W2982485184.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1481659984","https://openalex.org/W1515749184","https://openalex.org/W1609223620","https://openalex.org/W1965705114","https://openalex.org/W1977023370","https://openalex.org/W1978161072","https://openalex.org/W1991187728","https://openalex.org/W2001685400","https://openalex.org/W2017795814","https://openalex.org/W2025338486","https://openalex.org/W2029976533","https://openalex.org/W2034130375","https://openalex.org/W2067909757","https://openalex.org/W2071810814","https://openalex.org/W2095358770","https://openalex.org/W2117085697","https://openalex.org/W2126105956","https://openalex.org/W2152260006","https://openalex.org/W2156939299","https://openalex.org/W2205975260","https://openalex.org/W2313079699","https://openalex.org/W2315639808","https://openalex.org/W2569694275","https://openalex.org/W2625014193","https://openalex.org/W2701942770","https://openalex.org/W2735996609","https://openalex.org/W2767050701","https://openalex.org/W2792012198","https://openalex.org/W2810627076","https://openalex.org/W2911087563","https://openalex.org/W3101442004","https://openalex.org/W3165243398","https://openalex.org/W6749121346"],"related_works":["https://openalex.org/W2558836446","https://openalex.org/W2762006445","https://openalex.org/W2234293694","https://openalex.org/W3035913254","https://openalex.org/W2894288663","https://openalex.org/W1994587317","https://openalex.org/W2905560833","https://openalex.org/W3009582173","https://openalex.org/W2138971019","https://openalex.org/W2903388512","https://openalex.org/W3099935670","https://openalex.org/W3187631620","https://openalex.org/W3148904829","https://openalex.org/W17006687","https://openalex.org/W1844432077","https://openalex.org/W98257204","https://openalex.org/W2989928825","https://openalex.org/W2603174016","https://openalex.org/W2808875021","https://openalex.org/W2967746726"],"abstract_inverted_index":{"Morphology":[0],"of":[1,71,93],"a":[2,12,39,52,69,83,138],"robot":[3,74],"design":[4,26,55,66,100,143],"is":[5,36],"important":[6],"to":[7,10,42,67],"its":[8],"ability":[9],"achieve":[11],"stated":[13],"goal":[14],"and":[15,63,127,134],"therefore":[16],"applying":[17],"machine":[18],"learning":[19],"approaches":[20],"that":[21,57,108,117,128],"incorporate":[22],"morphology":[23,54,119,142],"in":[24,38,76,99,137],"the":[25,86,91,94,105,109,122],"space":[27,56],"can":[28],"provide":[29],"scope":[30],"for":[31,85,97,104],"significant":[32],"advantage.":[33],"Our":[34],"study":[35],"set":[37,70],"domain":[40],"known":[41],"be":[43,132],"reliant":[44],"on":[45,82],"morphology:":[46],"flapping":[47,106],"wing":[48,107],"flight.":[49],"We":[50,102],"developed":[51],"parameterised":[53],"draws":[58],"features":[59],"from":[60],"biological":[61],"exemplars":[62],"apply":[64],"automated":[65,141],"produce":[68],"high":[72],"performance":[73],"morphologies":[75],"simulation.":[77],"By":[78],"performing":[79],"sim2real":[80],"transfer":[81],"selection,":[84],"first":[87],"time":[88],"we":[89],"measured":[90],"shape":[92],"reality":[95,110],"gap":[96,111,123],"variations":[98],"complexity.":[101],"found":[103],"changes":[112],"non-monotonically":[113],"with":[114],"complexity,":[115],"suggesting":[116],"certain":[118],"details":[120,130],"narrow":[121],"more":[124],"than":[125],"others,":[126],"such":[129],"could":[131],"identified":[133],"further":[135],"optimised":[136],"future":[139],"end-to-end":[140],"process.":[144]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}