M10 - Intro to advanced robotics simulators

Question 1

What is a physics-based simulator?

Answer 1

Ff the computer relies on the laws of physics to predict the behaviour of the dynamic system of interest, then the simulation is called a physics based

Question 2

Give examples of physics-based simulators

Answer 2

• physic-based simulation as the first ground for developing reinforcement learning algorithms to control physically stimulated agents
• OpenAI Gym
• iGibson

Question 3

What is a dynamical system?

Answer 3

Particle or ensemble of particles whose state varies over time and thus obeys differential equations involving time derivatives.

Question 4

What elements are needed to simulate?

Answer 4

1. Rigis bodies
2. Compliant (deformable, soft) bodies
3. Fluids
4. Terrains

Question 5

What elements do you need to simulate the world + robots?

Answer 5

Four physics elements and two robotics elements

Question 6

What physics and robotics elements do you need to simulate the world and robots?

Answer 6

Physics:
1. Rigid bodies
2. Compliant (deformable, soft)
3. Fluids
4. Terrains
Robotics:
5. Sensors
6. Actuators