# ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering

arXiv: https://arxiv.org/abs/2211.04886 · HTML: https://mlsanity.com/paper/2211.04886/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Nov 2022.

## Built on by (most cited first, 10 of 10)

- [TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation](https://mlsanity.com/paper/2211.09325/) (2022)
- [DiffCLIP: Leveraging Stable Diffusion for Language Grounded 3D Classification](https://mlsanity.com/paper/2305.15957/) (2023)
- [APLA: Additional Perturbation for Latent Noise with Adversarial Training Enables Consistency](https://mlsanity.com/paper/2308.12605/) (2023)
- [CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators](https://mlsanity.com/paper/2407.06141/) (2024)
- [Learning Correspondence for Deformable Objects](https://mlsanity.com/paper/2405.08996/) (2024)
- [Safe Deep Model-Based Reinforcement Learning with Lyapunov Functions](https://mlsanity.com/paper/2405.16184/) (2024)
- [CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty](https://mlsanity.com/paper/2412.10431/) (2024)
- [Towards Improving Learning from Demonstration Algorithms via MCMC Methods](https://mlsanity.com/paper/2405.02243/) (2024)
- [Theoretical Analysis for Expectation-Maximization-Based Multi-Model 3D Registration](https://mlsanity.com/paper/2405.08991/) (2024)
- [Rocket Landing Control with Grid Fins and Path-following using MPC](https://mlsanity.com/paper/2405.16191/) (2024)

## Abstract (arXiv)

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.