{"id":"https://openalex.org/W4405787464","doi":"https://doi.org/10.1109/iros58592.2024.10801505","title":"Bridging the Sim-to-Real Gap with Bayesian Inference","display_name":"Bridging the Sim-to-Real Gap with Bayesian Inference","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787464","doi":"https://doi.org/10.1109/iros58592.2024.10801505"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088717202","display_name":"Jonas Rothfuss","orcid":"https://orcid.org/0000-0003-0129-0540"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jonas Rothfuss","raw_affiliation_strings":["ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006117761","display_name":"Bhavya Sukhija","orcid":"https://orcid.org/0000-0001-6238-9734"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Bhavya Sukhija","raw_affiliation_strings":["ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051876989","display_name":"Lenart Treven","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lenart Treven","raw_affiliation_strings":["ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091434894","display_name":"Florian D\u00f6rfler","orcid":"https://orcid.org/0000-0002-9649-5305"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Florian D\u00f6rfler","raw_affiliation_strings":["ETH,Department of Electrical Engineering,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Department of Electrical Engineering,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055713873","display_name":"Stelian Coros","orcid":"https://orcid.org/0000-0001-6604-4784"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stelian Coros","raw_affiliation_strings":["ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003040843","display_name":"Andreas Krause","orcid":"https://orcid.org/0000-0001-7260-9673"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andreas Krause","raw_affiliation_strings":["ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Department of Computer Science,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5088717202"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.5149,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73207594,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"10784","last_page":"10791"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.8465999960899353,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.8465999960899353,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11986","display_name":"Scientific Computing and Data Management","score":0.8413000106811523,"subfield":{"id":"https://openalex.org/subfields/1802","display_name":"Information Systems and Management"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.8322358727455139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6004412174224854},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5885226726531982},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5125703811645508},{"id":"https://openalex.org/keywords/bayesian-inference","display_name":"Bayesian inference","score":0.4779215455055237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43341463804244995},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35278862714767456},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06277278065681458}],"concepts":[{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.8322358727455139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6004412174224854},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5885226726531982},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5125703811645508},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.4779215455055237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43341463804244995},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35278862714767456},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06277278065681458}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1515777901","https://openalex.org/W1517081929","https://openalex.org/W1974461875","https://openalex.org/W2027758424","https://openalex.org/W2070032653","https://openalex.org/W2079716332","https://openalex.org/W2138484437","https://openalex.org/W2225156818","https://openalex.org/W2562736583","https://openalex.org/W2580909119","https://openalex.org/W2783667931","https://openalex.org/W2911087563","https://openalex.org/W2962872206","https://openalex.org/W2963159690","https://openalex.org/W3030356194","https://openalex.org/W3036541334","https://openalex.org/W3047366950","https://openalex.org/W3088310808","https://openalex.org/W3152878473","https://openalex.org/W3206771627","https://openalex.org/W4240691156","https://openalex.org/W4252189904","https://openalex.org/W4383108577","https://openalex.org/W4385656276","https://openalex.org/W4392251671","https://openalex.org/W6617145748","https://openalex.org/W6676315081","https://openalex.org/W6677107029","https://openalex.org/W6680657880","https://openalex.org/W6684488266","https://openalex.org/W6725708968","https://openalex.org/W6731982132","https://openalex.org/W6736057607","https://openalex.org/W6745421424","https://openalex.org/W6747473740","https://openalex.org/W6751337562","https://openalex.org/W6751494529","https://openalex.org/W6751959828","https://openalex.org/W6752342722","https://openalex.org/W6757672018","https://openalex.org/W6758310807","https://openalex.org/W6764053384","https://openalex.org/W6777663180","https://openalex.org/W6778000925","https://openalex.org/W6779911313","https://openalex.org/W6850204301","https://openalex.org/W6853962198","https://openalex.org/W6854124282","https://openalex.org/W6858159179","https://openalex.org/W7052236464"],"related_works":["https://openalex.org/W2372267530","https://openalex.org/W2969189870","https://openalex.org/W3015855446","https://openalex.org/W2965643117","https://openalex.org/W4303857162","https://openalex.org/W2407375987","https://openalex.org/W3049691116","https://openalex.org/W2505726097","https://openalex.org/W2950975704","https://openalex.org/W2010643158"],"abstract_inverted_index":{"We":[0,53,74],"present":[1],"Sim-FSVGD":[2,14,43,79],"for":[3],"learning":[4,34,57],"robot":[5],"dynamics":[6,36],"from":[7],"data.":[8],"As":[9],"opposed":[10],"to":[11,25,110],"traditional":[12],"methods,":[13],"leverages":[15],"low-fidelity":[16],"physical":[17,60],"priors,":[18],"e.g.,":[19],"in":[20,38,63,80],"the":[21,27,39,76,82,107,111,114],"form":[22],"of":[23,29,78,113],"simulators,":[24],"regularize":[26],"training":[28],"neural":[30],"network":[31],"models.":[32],"While":[33],"accurate":[35,64],"already":[37],"low":[40],"data":[41,50,108],"regime,":[42],"scales":[44],"and":[45],"excels":[46],"also":[47],"when":[48],"more":[49],"is":[51],"available.":[52],"empirically":[54],"show":[55],"that":[56],"with":[58,101],"implicit":[59],"priors":[61],"results":[62],"mean":[65],"model":[66],"estimation":[67],"as":[68,70],"well":[69],"precise":[71],"uncertainty":[72],"quantification.":[73],"demonstrate":[75,95],"effectiveness":[77],"bridging":[81],"sim-to-real":[83],"gap":[84],"on":[85],"a":[86,96],"high-performance":[87],"RC":[88],"racecar":[89],"system.":[90],"Using":[91],"model-based":[92],"RL,":[93],"we":[94],"highly":[97],"dynamic":[98],"parking":[99],"maneuver":[100],"drifting,":[102],"using":[103],"less":[104],"than":[105],"half":[106],"compared":[109],"state":[112],"art.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
