ART/ATK：用于评估和缓解机器人和自动驾驶汽车工程中模拟与真实差距的研究平台
ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering
摘要：
我们讨论了一个平台，具有软件和硬件组件，其目的是支持研究表征和减轻机器人和车辆自动化工程中的模拟到真实的差距。该软件独立于操作系统，有三个主要组成部分：一个名为Chrono的仿真引擎，支持高保真车辆和传感器仿真;一个用于算法设计和测试的自治堆栈;以及一个支持可视化和硬件在环实验的开发环境。伴随的硬件平台是一个1/6比例的车辆，增加了可重新配置的安装，用于计算，传感和跟踪。由于该车辆平台在仿真环境中具有数字孪生模型，因此可以在仿真和现实中测试相同的自主感知、状态估计或控制算法以及它们运行的处理器。最后给出了利用该平台进行自主研究的实例。未来的工作将集中在增强ART/ATK，支持全尺寸的Chevy Bolt EUV，该EUV将在不久的将来提供给该小组。
英文摘要：
We discuss a platform that has both software and hardware components, and whose purpose is to support research into characterizing and mitigating the sim-to-real gap in robotics and vehicle autonomy engineering. The software is operating-system independent and has three main components: a simulation engine called Chrono, which supports high-fidelity vehicle and sensor simulation; an autonomy stack for algorithm design and testing; and a development environment that supports visualization and hardware-in-the-loop experimentation. The accompanying hardware platform is a 1/6th scale vehicle augmented with reconfigurable mountings for computing, sensing, and tracking. Since this vehicle platform has a digital twin within the simulation environment, one can test the same autonomy perception, state estimation, or controls algorithms, as well as the processors they run on, in both simulation and reality. A demonstration is provided to show the utilization of this platform for autonomy research. Future work will concentrate on augmenting ART/ATK with support for a full-sized Chevy Bolt EUV, which will be made available to this group in the immediate future.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
