Deep learning has revolutionized the field of robotics. To deal with the lack of annotated training samples for learning deep models in robotics, Sim-to-Real transfer has been invented and widely used. However, such deep models trained in simulation environment typically do not transfer very well to the real world due to the challenging problem of “reality gap”. In response, this letter presents a conceptually new Digital Twin (DT)-CycleGAN framework by integrating the advantages of both DT methodology and the CycleGAN model so that the reality gap can be effectively bridged.

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[1] David Liu, Yuzhong Chen, Zihao Wu, "Digital Twin (DT)-CycleGAN: Enabling Zero-Shot Sim-to-Real Transfer of Visual Grasping Models", IEEE Dataport, 2023. [Online]. Available: http://dx.doi.org/10.21227/8s9p-ak63. Accessed: Jun. 19, 2024.
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doi = {10.21227/8s9p-ak63},
url = {http://dx.doi.org/10.21227/8s9p-ak63},
author = {David Liu; Yuzhong Chen; Zihao Wu },
publisher = {IEEE Dataport},
title = {Digital Twin (DT)-CycleGAN: Enabling Zero-Shot Sim-to-Real Transfer of Visual Grasping Models},
year = {2023} }
TY - DATA
T1 - Digital Twin (DT)-CycleGAN: Enabling Zero-Shot Sim-to-Real Transfer of Visual Grasping Models
AU - David Liu; Yuzhong Chen; Zihao Wu
PY - 2023
PB - IEEE Dataport
UR - 10.21227/8s9p-ak63
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David Liu, Yuzhong Chen, Zihao Wu. (2023). Digital Twin (DT)-CycleGAN: Enabling Zero-Shot Sim-to-Real Transfer of Visual Grasping Models. IEEE Dataport. http://dx.doi.org/10.21227/8s9p-ak63
David Liu, Yuzhong Chen, Zihao Wu, 2023. Digital Twin (DT)-CycleGAN: Enabling Zero-Shot Sim-to-Real Transfer of Visual Grasping Models. Available at: http://dx.doi.org/10.21227/8s9p-ak63.
David Liu, Yuzhong Chen, Zihao Wu. (2023). "Digital Twin (DT)-CycleGAN: Enabling Zero-Shot Sim-to-Real Transfer of Visual Grasping Models." Web.
1. David Liu, Yuzhong Chen, Zihao Wu. Digital Twin (DT)-CycleGAN: Enabling Zero-Shot Sim-to-Real Transfer of Visual Grasping Models [Internet]. IEEE Dataport; 2023. Available from : http://dx.doi.org/10.21227/8s9p-ak63
David Liu, Yuzhong Chen, Zihao Wu. "Digital Twin (DT)-CycleGAN: Enabling Zero-Shot Sim-to-Real Transfer of Visual Grasping Models." doi: 10.21227/8s9p-ak63