{"id":"https://openalex.org/W3201707474","doi":"https://doi.org/10.1109/lra.2022.3174367","title":"Validating Robotics Simulators on Real-World Impacts","display_name":"Validating Robotics Simulators on Real-World Impacts","publication_year":2022,"publication_date":"2022-05-11","ids":{"openalex":"https://openalex.org/W3201707474","doi":"https://doi.org/10.1109/lra.2022.3174367","mag":"3201707474"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3174367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3174367","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5021056553","display_name":"Brian Acosta","orcid":"https://orcid.org/0000-0002-0114-3527"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Brian Acosta","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0114-3527","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103159862","display_name":"William Yang","orcid":"https://orcid.org/0000-0003-0711-3414"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Yang","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085111442","display_name":"Michael Posa","orcid":"https://orcid.org/0000-0003-0599-385X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Posa","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0599-385X","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021056553"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":3.5237,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.92707674,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"6471","last_page":"6478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.8108720779418945},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7493944764137268},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6822287440299988},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6427515745162964},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47553253173828125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44836729764938354},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.43698662519454956},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.41621190309524536}],"concepts":[{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.8108720779418945},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7493944764137268},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6822287440299988},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6427515745162964},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47553253173828125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44836729764938354},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.43698662519454956},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.41621190309524536},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3174367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3174367","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1494775047","https://openalex.org/W1514487078","https://openalex.org/W1570792896","https://openalex.org/W1992026489","https://openalex.org/W2041434319","https://openalex.org/W2084399420","https://openalex.org/W2085897137","https://openalex.org/W2087425155","https://openalex.org/W2739317817","https://openalex.org/W2964416572","https://openalex.org/W2968774764","https://openalex.org/W2972798201","https://openalex.org/W2972859759","https://openalex.org/W3000625188","https://openalex.org/W3029641972","https://openalex.org/W3080503886","https://openalex.org/W3089918476","https://openalex.org/W3096243380","https://openalex.org/W3100294633","https://openalex.org/W3136831392","https://openalex.org/W3148423441","https://openalex.org/W3173314523","https://openalex.org/W3175254947","https://openalex.org/W3178351738","https://openalex.org/W3206762371","https://openalex.org/W3206982864","https://openalex.org/W3210696202","https://openalex.org/W6644337322","https://openalex.org/W6778428183","https://openalex.org/W6784172082","https://openalex.org/W6800004206","https://openalex.org/W6801964084"],"related_works":["https://openalex.org/W1657880117","https://openalex.org/W2595172197","https://openalex.org/W2127970246","https://openalex.org/W2084856301","https://openalex.org/W1001352512","https://openalex.org/W4382618745","https://openalex.org/W2885125400","https://openalex.org/W1989889224","https://openalex.org/W1987128138","https://openalex.org/W2743976221"],"abstract_inverted_index":{"A":[0],"realistic":[1],"simulation":[2,29],"environment":[3],"is":[4,58,166],"an":[5],"essential":[6],"tool":[7],"in":[8,30],"every":[9],"roboticist\u2019s":[10],"toolkit,":[11],"with":[12,22,50],"uses":[13],"ranging":[14],"from":[15,153],"planning":[16],"and":[17,65,69,74,110,175],"control":[18],"to":[19,91,141],"training":[20],"policies":[21],"reinforcement":[23],"learning.":[24],"Despite":[25],"the":[26,59,67,77,86,113,122,145,156,159,164,172,176],"centrality":[27],"of":[28,88,105,115,125,148],"modern":[31],"robotics,":[32],"little":[33],"work":[34],"has":[35],"been":[36],"done":[37],"comparing":[38],"robotics":[39],"simulators":[40,90,107,132,157],"against":[41],"real-world":[42,93],"data,":[43,99],"especially":[44],"for":[45,62],"scenarios":[46],"involving":[47,95],"dynamic":[48,56],"motions":[49],"high":[51],"speed":[52],"impact":[53],"events.":[54],"Handling":[55],"contact":[57,103],"computational":[60],"bottleneck":[61],"most":[63],"simulations,":[64],"thus":[66],"modeling":[68,116],"algorithmic":[70],"choices":[71,117],"surrounding":[72],"impacts":[73,135],"friction":[75],"form":[76],"largest":[78],"distinctions":[79],"between":[80,171],"popular":[81,106],"tools.":[82],"Here,":[83],"we":[84,100],"evaluate":[85],"ability":[87],"several":[89],"reproduce":[92,142],"trajectories":[94],"impacts.":[96],"Using":[97],"experimental":[98],"identify":[101],"system-specific":[102],"parameters":[104],"Drake,":[108],"MuJoCo,":[109],"Bullet,":[111],"analyzing":[112],"effects":[114],"around":[118],"these":[119],"parameters.":[120],"For":[121,144],"simple":[123],"example":[124],"a":[126,130,149,154],"cube":[127],"tossed":[128],"onto":[129],"table,":[131],"capture":[133,158],"inelastic":[134],"surprisingly":[136],"well,":[137],"though":[138],"generally":[139],"fail":[140],"elasticity.":[143],"higher-dimensional":[146],"case":[147],"Cassie":[150],"biped":[151],"landing":[152],"jump,":[155],"bulk":[160],"motion":[161],"well":[162],"but":[163],"accuracy":[165],"limited":[167],"by":[168],"model":[169],"differences":[170],"real":[173],"robot":[174],"simulators.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
