Quiz#

What is the advantage of using simulation in robot learning? a. It’s more cost-effective b. It allows for faster than real-time training c. It provides access to privileged information d. All of the above

The “reality gap” in sim-to-real transfer refers to: a. The difference between simulation and real-world conditions b. The time it takes to deploy a policy c. The cost difference between simulation and real robots d. The physical distance between the simulation computer and the robot

Which of the following is NOT a component of the reality gap? a. Approximation errors b. Model errors c. Unmodelled dynamics d. User interface errors

Domain randomization always improves the performance of a policy when deployed on hardware. a. True b. False

What is the primary purpose of regularization in sim-to-real transfer? a. To increase training speed b. To create more realistic simulations c. To ensure safe and sustainable robot operation d. To improve visual rendering in simulations

In the context of privileged information, what does the “teacher” in a teacher-student approach have access to? a. Only real-world data b. Only simulated data c. Both simulated and real-world data d. Information not available to the real robot

Which of the following is a benefit of using actuator networks in sim-to-real transfer? a. They eliminate the need for real robots b. They accurately model complex actuator behaviors c. They speed up physical robot movement d. They reduce the cost of robot hardware They reduce the cost of robot hardware

The goal of visual domain randomization is to achieve photorealism. a. True b. False

What is a key consideration when balancing domain randomization and real-to-sim approaches? a. Always prioritize domain randomization b. Focus solely on real-to-sim techniques c. Find a balance that creates robust yet effective policies d. Ignore both approaches and rely on intuition