{"id":48693,"date":"2025-05-18T01:32:12","date_gmt":"2025-05-17T23:32:12","guid":{"rendered":"https:\/\/www.derivaty.sk\/?p=48693"},"modified":"2025-05-18T01:32:12","modified_gmt":"2025-05-17T23:32:12","slug":"sim-to-real-gap-vyuzitie-domenovej-randomizacie-pre-robustny-transfer-riadiacich-politik","status":"publish","type":"post","link":"https:\/\/www.vrtulniky.sk\/news\/sim-to-real-gap-vyuzitie-domenovej-randomizacie-pre-robustny-transfer-riadiacich-politik\/","title":{"rendered":"Sim-to-real g\u00e1p: Vyu\u017eitie dom\u00e9novej randomiz\u00e1cie pre robustn\u00fd transfer riadiacich polit\u00edk"},"content":{"rendered":"<h2>Pre\u010do \u201esim-to-real\u201d rozhoduje o auton\u00f3mii dronov<\/h2>\n<p>Tr\u00e9ning a testovanie auton\u00f3mnych algoritmov priamo v ter\u00e9ne je drah\u00e9, rizikov\u00e9 a m\u00e1lo \u0161k\u00e1lovate\u013en\u00e9. Simul\u00e1cia (<em>sim<\/em>) pon\u00faka bezpe\u010dn\u00e9 pieskovisko s kontrolovan\u00fdmi podmienkami a mas\u00edvnym paralelizmom. Rozpor medzi simul\u00e1ciou a realitou (<em>sim-to-real gap<\/em>) v\u0161ak \u010dasto vedie k degrad\u00e1cii v\u00fdkonu po nasaden\u00ed v skuto\u010dnom svete (<em>reality gap<\/em>). Tento \u010dl\u00e1nok systematizuje pr\u00edstupy k premosteniu medzery pomocou <strong>dom\u00e9novej randomiz\u00e1cie<\/strong>, <strong>transfer learningu<\/strong>, <strong>adapt\u00edvnej identifik\u00e1cie<\/strong>, ako aj integra\u010dn\u00fdch postupov pre auton\u00f3miu dronov \u2013 od vn\u00edmania cez lokaliz\u00e1ciu po pl\u00e1novanie a riadenie, vr\u00e1tane rojov\u00fdch scen\u00e1rov.<\/p>\n<h2>Architektonick\u00fd kontext: vrstvy auton\u00f3mie a kde vznik\u00e1 \u201egap\u201d<\/h2>\n<ul>\n<li><strong>Vn\u00edmanie (perception)<\/strong>: detekcia\/prieskum sc\u00e9ny (RGB, hlbka, LiDAR, event-kamery), semantika, sledovanie objektov. <em>Gap<\/em> plynie z nepresnej fotometriky, text\u00far, \u0161umu a ru\u0161enia svetla.<\/li>\n<li><strong>Odhad stavu (state estimation)<\/strong>: VIO\/SLAM, f\u00fazia IMU\/GNSS\/vision. <em>Gap<\/em> tvoria rozdielne spektr\u00e1 vibr\u00e1ci\u00ed, nelinearity senzorov a oneskorenia.<\/li>\n<li><strong>Pl\u00e1novanie a vyh\u00fdbanie<\/strong>: reakt\u00edvne kol\u00edzne vyh\u00fdbanie, glob\u00e1lne pl\u00e1nova\u010de, MPC. <em>Gap<\/em> vznik\u00e1 v dynamike prostredia (vietor, pohybliv\u00e9 prek\u00e1\u017eky) a v obmedzeniach aktu\u00e1torov.<\/li>\n<li><strong>Riadenie<\/strong>: n\u00edzko\u00farov\u0148ov\u00e9 slu\u010dky (attitude\/rate\/thrust) a vysok\u00e1 vrstva (trajekt\u00f3rie). <em>Gap<\/em> sp\u00f4sobuj\u00fa neline\u00e1rne efekty (downwash, ground effect), satur\u00e1cie a oneskorenia ESC\/motorov.<\/li>\n<\/ul>\n<h2>Dom\u00e9nov\u00e1 randomiz\u00e1cia: princ\u00edp, ciele a dizajn rozdelen\u00ed<\/h2>\n<p>Dom\u00e9nov\u00e1 randomiz\u00e1cia (<em>Domain Randomization, DR<\/em>) z\u00e1merne variuje parametre simul\u00e1cie po\u010das tr\u00e9ningu tak, aby modely videli \u0161irok\u00e9 spektrum mo\u017en\u00fdch svetov. Cie\u013eom je, aby sie\u0165\/algoritmus nau\u010dil invariancie a robustn\u00e9 reprezent\u00e1cie.<\/p>\n<ul>\n<li><strong>Fotometria<\/strong>: n\u00e1hodn\u00e9 zdroje svetla, spektrum, intenzita, tie\u0148ovanie, odlesky, haze, meteorol\u00f3gia; text\u00fary a materi\u00e1ly s variabiln\u00fdmi BRDF.<\/li>\n<li><strong>Senzory<\/strong>: \u0161um IMU (bias drift, random walk), rolling shutter, kvantiz\u00e1cia, latencia; LiDAR s dropoutmi a viacn\u00e1sobn\u00fdmi odrazmi; kamery s aber\u00e1ciami a zne\u010disten\u00edm \u0161o\u0161ovky.<\/li>\n<li><strong>Dynamika \u201eplant\u201d<\/strong>: hmotnos\u0165, momenty zotrva\u010dnosti, thrust mapy, oneskorenie motorov, aerodynamick\u00e9 koeficienty, vietor (n\u00e1razy, turbulence, shear), ground effect.<\/li>\n<li><strong>Prostredie a geometri\u00e1<\/strong>: rozmiestnenie prek\u00e1\u017eok, pohyb akt\u00e9rov, topol\u00f3gia koridorov, GPS tie\u0148ovanie, RF ru\u0161enie.<\/li>\n<li><strong>Komunika\u010dn\u00e9 podmienky<\/strong>: jitter, packet loss, oneskorenie v roji (C2 a V2V), obmedzenia \u0161\u00edrky p\u00e1sma.<\/li>\n<\/ul>\n<p><em>Pravidlo n\u00e1vrhu rozdelen\u00ed:<\/em> randomizujte \u0161iroko, ale fyzik\u00e1lne realisticky. Pou\u017e\u00edvajte <strong>truncated<\/strong> alebo <strong>mixture<\/strong> rozdelenia (napr. lognorm\u00e1l pre \u0161um, beta pre osvetlenie) s priorom z meran\u00ed. Pre kritick\u00e9 parametre uplatnite <em>curriculum<\/em> \u2013 zvy\u0161ujte rozptyl postupne.<\/p>\n<h2>Transfer learning: od simul\u00e1cie k realite krok za krokom<\/h2>\n<p>Transfer learning pren\u00e1\u0161a znalosti nau\u010den\u00e9 v zdrojovej dom\u00e9ne (sim) do cie\u013eovej (real). K\u013e\u00fa\u010dov\u00e9 strat\u00e9gie:<\/p>\n<ul>\n<li><strong>Feature transfer<\/strong>: pou\u017eitie encodera na\u010dvi\u010den\u00e9ho v simul\u00e1cii a <em>fine-tune<\/em> na re\u00e1lnych anotovan\u00fdch d\u00e1tach (menej ich treba).<\/li>\n<li><strong>Domain adaptation<\/strong>: <em>adversarial<\/em> zarovn\u00e1vanie distrib\u00faci\u00ed (sim vs. real) v latentnom priestore; <em>coral\/mmd<\/em> regulariz\u00e1cie.<\/li>\n<li><strong>Self-supervised pretraining<\/strong>: kontrastn\u00e9 \u00falohy (temporal a multi-view) zo simul\u00e1cie, doladenie na malom re\u00e1lnom sete.<\/li>\n<li><strong>Policy distillation<\/strong>: prenesenie politiky RL z fotorealistickej\/DR simul\u00e1cie do men\u0161ej siete be\u017eiacej na edge (MCU\/SoC) s kvantiz\u00e1ciou.<\/li>\n<\/ul>\n<h2>Fotorealizmus vs. randomiz\u00e1cia: komplement\u00e1rny poh\u013ead<\/h2>\n<p>Fotorealistick\u00e1 simul\u00e1cia zni\u017euje rozdiel vo vn\u00edman\u00ed, no b\u00fdva n\u00e1kladn\u00e1 a menej rozmanit\u00e1. DR naopak zv\u00e4\u010d\u0161uje pokrytie distrib\u00faci\u00ed, ale m\u00f4\u017ee vies\u0165 k \u201enadmieru robustn\u00fdm\u201d reprezent\u00e1ci\u00e1m, ktor\u00e9 str\u00e1caj\u00fa jemn\u00e9 detaily. V praxi:<\/p>\n<ol>\n<li>Tr\u00e9nujte <strong>perception<\/strong> na fotorealistick\u00fdch sc\u00e9nach s \u013eahkou DR fotometrie.<\/li>\n<li>Tr\u00e9nujte <strong>riadenie\/RL<\/strong> s v\u00fdraznou DR dynamiky a senzoriky.<\/li>\n<li>Pou\u017eite <strong>two-stage<\/strong> pr\u00edstup: najprv DR, potom <em>narrow-domain fine-tune<\/em> na re\u00e1lnych logoch.<\/li>\n<\/ol>\n<h2>Identifik\u00e1cia parametrov a \u201eplant-model mismatch\u201d<\/h2>\n<p>Presn\u00fd model dynamiky zni\u017euje potrebu extr\u00e9mnej DR. Odpor\u00fa\u010dan\u00fd cyklus:<\/p>\n<ol>\n<li>Bezpe\u010dn\u00e9 letov\u00e9 experimenty s excita\u010dn\u00fdmi man\u00e9vrami (chirp, step, PRBS).<\/li>\n<li>Odhad thrust\/torque m\u00e1p, \u010dasov\u00fdch kon\u0161t\u00e1nt ESC\/motorov, aerodynamick\u00fdch koeficientov.<\/li>\n<li>Kalibr\u00e1cia modelu a <strong>Bayesovsk\u00e9 intervaly neistoty<\/strong>, ktor\u00e9 sa premenia na rozsahy DR.<\/li>\n<\/ol>\n<h2>Sim-to-real pre u\u010denie s posil\u0148ovan\u00edm (RL)<\/h2>\n<ul>\n<li><strong>Privileged learning<\/strong>: po\u010das tr\u00e9ningu v simul\u00e1cii m\u00e1 agent pr\u00edstup k \u201edokonal\u00e9mu\u201d stavu; pri nasaden\u00ed pou\u017e\u00edva len odhad cez senzory. <em>Teacher-student<\/em> sch\u00e9ma redukuje realitn\u00fa medzeru.<\/li>\n<li><strong>Domain randomization v prostred\u00ed<\/strong>: dynamika, oneskorenia, poruchy akt\u00fatorov; <em>curriculum<\/em> pod\u013ea miery \u00faspechu agenta.<\/li>\n<li><strong>Risk-sensitive RL<\/strong>: minimaliz\u00e1cia <em>CVaR<\/em> alebo penaliz\u00e1cia \u201etail\u201d udalost\u00ed pre bezpe\u010dnos\u0165; v\u00fdznamn\u00e9 najm\u00e4 pri bl\u00edzkosti prek\u00e1\u017eok.<\/li>\n<li><strong>Safe exploration<\/strong>: <em>barrier functions<\/em>, <em>shielding<\/em> nad RL politikou (napr. CBF\/ECBF), ktor\u00e9 garantuj\u00fa neprekro\u010denie obmedzen\u00ed.<\/li>\n<\/ul>\n<h2>Imita\u010dn\u00e9 u\u010denie a DAgger v praxi dronov<\/h2>\n<p>Imita\u010dn\u00e9 u\u010denie vyu\u017e\u00edva expertn\u00e9 trajekt\u00f3rie z \u010dloveka alebo MPC. Ke\u010f\u017ee distribu\u010dn\u00fd posun vedie k kumul\u00e1cii ch\u00fdb, odpor\u00fa\u010da sa <strong>DAgger<\/strong> (agreg\u00e1cia d\u00e1t s korekciami experta) aj v simul\u00e1cii s DR a n\u00e1sledn\u00e9 doladenie na re\u00e1lnych korekci\u00e1ch (<em>on-policy fine-tune<\/em> s n\u00edzkym rizikom).<\/p>\n<h2>Vizualiz\u00e1cia a augment\u00e1cie: od obrazov k robustn\u00fdm reprezent\u00e1ci\u00e1m<\/h2>\n<ul>\n<li><strong>Spektr\u00e1lne a fotometrick\u00e9 augment\u00e1cie<\/strong>: n\u00e1hodn\u00e9 expoz\u00edcie, spektr\u00e1lne posuny, \u0161um, defocus, motion blur, lens dirt.<\/li>\n<li><strong>Geometrick\u00e9 augment\u00e1cie<\/strong>: n\u00e1hodn\u00e9 kropovanie, rot\u00e1cia, perspekt\u00edvny \u201etilt\u201d, simul\u00e1cia rolling-shutter.<\/li>\n<li><strong>Sim2Real style transfer<\/strong>: <em>Cycle-consistent<\/em> premapovanie text\u00far zo sim do real a naopak, bez straty geometrie \u2013 vhodn\u00e9 pre vn\u00edmanie.<\/li>\n<\/ul>\n<h2>\u010casovanie a latencie: end-to-end limit auton\u00f3mie<\/h2>\n<p>Aj pri dokonalom vn\u00edman\u00ed sa v\u00fdkon zhor\u0161\u00ed, ak je <strong>latencia<\/strong> a <strong>jitter<\/strong> v slu\u010dke podcenen\u00fd. Pri sim-to-real je nutn\u00e9:<\/p>\n<ul>\n<li>Modelova\u0165 senzor\u2192odhad\u2192riadenie\u2192aktu\u00e1tor re\u0165azec s realistick\u00fdmi oneskoreniami a periodicitou.<\/li>\n<li>Tr\u00e9nova\u0165 politiky tolerantn\u00e9 k jitteru (randomiz\u00e1cia peri\u00f3dy, <em>delay-aware<\/em> MPC\/RL).<\/li>\n<li>V HIL overova\u0165 deadline miss rate a robustnos\u0165 na CPU load.<\/li>\n<\/ul>\n<h2>Metriky a or\u00e1kul\u00e1: ako mera\u0165 pripravenos\u0165 na realitu<\/h2>\n<ul>\n<li><strong>Robustnostn\u00e9 krivky<\/strong>: v\u00fdkon vs. vari\u00e1cia parametra (vietor, oneskorenie, \u0161um); cie\u013eom je ploch\u00fd profil.<\/li>\n<li><strong>Distributional coverage<\/strong>: percento cie\u013eovej prev\u00e1dzky pokryt\u00e9 tr\u00e9novac\u00edmi rozdeleniami (odhady z logov re\u00e1lnych misi\u00ed).<\/li>\n<li><strong>Safety KPI<\/strong>: po\u010det \u201enear miss\u201d, minim\u00e1lne clearance k prek\u00e1\u017ekam, z\u00e1sahy safety-shieldu, poru\u0161enia obmedzen\u00ed.<\/li>\n<li><strong>Generaliza\u010dn\u00e9 testy<\/strong>: neviden\u00e9 sc\u00e9ny\/po\u010dasia; <em>holdout<\/em> miesta, ktor\u00e9 simul\u00e1tor neobsahoval.<\/li>\n<\/ul>\n<h2>Pipeline: od simul\u00e1cie k ter\u00e9nu<\/h2>\n<ol>\n<li><strong>Data mining<\/strong> z re\u00e1lnych logov (vietor, vibr\u00e1cie, latencie) \u2192 \u0161tatistiky pre n\u00e1vrh DR rozdelen\u00ed.<\/li>\n<li><strong>SIL tr\u00e9ning<\/strong> s DR a fotorealistickou sc\u00e9nou pre perception; RL\/IL pre navig\u00e1ciu a vyh\u00fdbanie.<\/li>\n<li><strong>HIL valida\u010dn\u00fd filter<\/strong>: \u010dasovanie, jitter, rozhrania; <em>fault injection<\/em> (dropouty senzorov, packet loss).<\/li>\n<li><strong>Pilotn\u00e9 lety<\/strong> s <em>envelope protection<\/em> (geofencing, virtu\u00e1lne steny, soft limit thrust).<\/li>\n<li><strong>Iter\u00e1cia<\/strong>: sp\u00e4tn\u00e1 identifik\u00e1cia a aktualiz\u00e1cia rozdelen\u00ed DR; <em>fine-tune<\/em> percepcie a politiky.<\/li>\n<\/ol>\n<h2>Sim-to-real pre roje: \u0161k\u00e1lovanie neistoty a komunik\u00e1cie<\/h2>\n<ul>\n<li><strong>Komunik\u00e1cia<\/strong>: randomizujte latencie, stratovos\u0165 a obmedzenia priepustnosti; tr\u00e9nujte decentralizovan\u00e9 politiky s obmedzenou inform\u00e1ciou.<\/li>\n<li><strong>Koordin\u00e1cia<\/strong>: pou\u017e\u00edvajte <em>graph neural networks<\/em> alebo explicitn\u00e9 form\u00e1cie s <em>consensus<\/em> algoritmami robustn\u00fdmi vo\u010di v\u00fdpadkom uzlov.<\/li>\n<li><strong>Bezpe\u010dnos\u0165<\/strong>: <em>Reciprocal collision avoidance<\/em> s verifikovan\u00fdmi barri\u00e9rami; lok\u00e1lne failsafe pri strate komunik\u00e1cie.<\/li>\n<\/ul>\n<h2>Modely neur\u010ditosti a verifikovan\u00e9 \u201eshields\u201d<\/h2>\n<p>Pridajte odhady neistoty do vn\u00edmania a riadenia (napr. Monte Carlo dropout, ensemble) a rozhodovanie via\u017ete na <strong>risk-aware<\/strong> MPC. Nad politikou nasadzujte <strong>form\u00e1lne verifikovan\u00e9 shiely<\/strong> (CBF\/Reachability), ktor\u00e9 garantuj\u00fa bezpe\u010dnostn\u00e9 invarianty.<\/p>\n<h2>Kontinu\u00e1lne u\u010denie a on-device adapt\u00e1cia<\/h2>\n<ul>\n<li><strong>Test-time adaptation<\/strong>: jemn\u00e9 doladenie BN \u0161tatist\u00edk alebo n\u00edzkodimenzion\u00e1lnych hl\u00e1v pod\u013ea prich\u00e1dzaj\u00facich re\u00e1lnych d\u00e1t.<\/li>\n<li><strong>Meta-learning<\/strong>: inicializ\u00e1cie, ktor\u00e9 sa r\u00fdchlo prisp\u00f4sobia novej lokalite\/po\u010dasiu p\u00e1r krokmi gradientu.<\/li>\n<li><strong>Edge constraints<\/strong>: kvantiz\u00e1cia, prerez\u00e1vanie siet\u00ed, distil\u00e1cia a pl\u00e1novanie pr\u00fadov d\u00e1t vzh\u013eadom na energetick\u00fd rozpo\u010det.<\/li>\n<\/ul>\n<h2>Integr\u00e1cia s klasick\u00fdmi met\u00f3dami: hybridn\u00e9 riadenie<\/h2>\n<p>\u010cist\u00e9 RL politiky nahr\u00e1dzajte <strong>hybridom<\/strong>: sie\u0165 predpoved\u00e1 referencie\/parametre pre MPC alebo adapt\u00edvny regul\u00e1tor. Hybrid lep\u0161ie re\u0161pektuje obmedzenia a u\u013eah\u010duje certifik\u00e1ciu. Percep\u010dn\u00e9 siete poskytuj\u00fa mapy rizika a <em>costmaps<\/em> pre klasick\u00fdch pl\u00e1nova\u010dov.<\/p>\n<h2>\u00dadaje a anot\u00e1cie: ako z\u00edska\u0165 \u201em\u00e1lo, ale dobr\u00e9\u201d re\u00e1lne d\u00e1ta<\/h2>\n<ul>\n<li><strong>Active learning<\/strong>: iterat\u00edvne navrhujte misie, ktor\u00e9 maximalizuj\u00fa inform\u00e1ciu (miesta s vysokou neistotou modelu).<\/li>\n<li><strong>Weak supervision<\/strong>: pravidl\u00e1\/heuristiky a senzorov\u00e9 tri\u00e1dy (napr. stereo+IMU) na generovanie pseudo-\u0161t\u00edtkov.<\/li>\n<li><strong>Human-in-the-loop<\/strong>: r\u00fdchle anot\u00e1cie na keyframoch; korekcie v DAgger slu\u010dke.<\/li>\n<\/ul>\n<h2>Bezpe\u010dnostn\u00e9 a regula\u010dn\u00e9 aspekty<\/h2>\n<p>Preuk\u00e1zanie bezpe\u010dnosti vy\u017eaduje <strong>traceability<\/strong> od po\u017eiadaviek po testy a metriky. Sim-to-real postupy musia by\u0165 auditovate\u013en\u00e9: protokoly DR rozdelen\u00ed, verzie simul\u00e1torov, semien RNG, logy z HIL a z re\u00e1lnych letov, plus \u201ego\/no-go\u201d krit\u00e9ri\u00e1 pre roz\u0161\u00edrenie prev\u00e1dzky (VLOS \u2192 BVLOS, denn\u00e9 \u2192 no\u010dn\u00e9).<\/p>\n<h2>Pr\u00edpadov\u00e9 vzory nasadenia<\/h2>\n<ol>\n<li><strong>Indoors inspekcia<\/strong>: siln\u00e1 DR osvetlenia a text\u00far; hybridn\u00e9 riadenie (MPC+policy); HIL testy s RF multipath a ob\u010dasnou stratou vizu\u00e1lnych prvkov.<\/li>\n<li><strong>Lesn\u00fd prieskum<\/strong>: DR vetra, pohyblivej veget\u00e1cie a slne\u010dn\u00fdch \u0161kvrn; robustn\u00e9 VIO s event-kamerou; risk-sensitive pl\u00e1novanie clearance.<\/li>\n<li><strong>Rojov\u00e9 mapovanie<\/strong>: decentralizovan\u00e9 politiky s DR komunik\u00e1cie; GNN pre form\u00e1cie; shiely pre minim\u00e1lne rozostupy.<\/li>\n<\/ol>\n<h2>\u201eBest practices\u201d pre t\u00edm<\/h2>\n<ul>\n<li>Udr\u017eujte <strong>bin\u00e1rnu ekvivalenciu<\/strong> algoritmov medzi SIL\/HIL\/real (rovnak\u00e9 kni\u017enice a flagy).<\/li>\n<li>Logujte <strong>v\u0161etko<\/strong>: \u010dasov\u00e9 pe\u010diatky, jednotky, r\u00e1mce, semen\u00e1 RNG, verzie simul\u00e1torov, parametre DR.<\/li>\n<li><strong>Curriculum<\/strong>: od \u00fazkych rozdelen\u00ed k \u0161irok\u00e9mu spektru; \u201eoverfit to safety\u201d \u2013 bezpe\u010dnos\u0165 priorita pri expanzii ob\u00e1lky.<\/li>\n<li><strong>Test like you fly<\/strong>: sc\u00e9n\u00e1re, ktor\u00e9 verne kop\u00edruj\u00fa prev\u00e1dzku (r\u00fdchlosti, man\u00e9vre, latencie, ru\u0161enie).<\/li>\n<\/ul>\n<h2>Bud\u00face smery<\/h2>\n<ul>\n<li><strong>Sim-to-real s fyzikou u\u010denou d\u00e1tami<\/strong> (differentiable physics) a adapt\u00edvnou identifik\u00e1ciou po\u010das letu.<\/li>\n<li><strong>Generat\u00edvne modely<\/strong> pre synt\u00e9zu realistick\u00fdch senzorick\u00fdch sc\u00e9n s kontrolou variability.<\/li>\n<li><strong>Form\u00e1lne metriky distribu\u010dnej bl\u00edzkosti<\/strong> medzi sim a real na \u00farovni reprezent\u00e1ci\u00ed.<\/li>\n<li><strong>Ko-u\u010denie rojov<\/strong> s garanciami stability pri meniacom sa grafe konektivity.<\/li>\n<\/ul>\n<p>\u00daspe\u0161n\u00e9 <em>sim-to-real<\/em> nasadenie auton\u00f3mie dronov vznik\u00e1 ako kombin\u00e1cia: (1) d\u00f4slednej identifik\u00e1cie a modelovania \u201eplant\u201d, (2) premyslenej dom\u00e9novej randomiz\u00e1cie zalo\u017eenej na re\u00e1lnych d\u00e1tach, (3) transfer learningu a adapt\u00e1cie na okrajovom zariaden\u00ed, (4) bezpe\u010dnostn\u00fdch \u0161t\u00edtov a form\u00e1lnych obmedzen\u00ed a (5) disciplinovan\u00e9ho HIL\/SIL procesu. Tak\u00fdto pr\u00edstup men\u00ed simul\u00e1ciu z n\u00e1stroja na tr\u00e9ning na n\u00e1stroj <em>z\u00e1ruky<\/em>, \u017ee auton\u00f3mia obstoj\u00ed aj mimo laborat\u00f3ria.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Ako preklen\u00fa\u0165 sim-to-real gap: randomiz\u00e1cia, transfer a valida\u010dn\u00e9 metriky pre spo\u013eahliv\u00e9 nasadenie auton\u00f3mie v ter\u00e9ne.<\/p>\n","protected":false},"author":44,"featured_media":88693,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2629],"tags":[2522,2523,2524,2290,2136,2525,2526,2119],"class_list":["post-48693","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-drony","tag-augmentacia","tag-domenova-randomizacia","tag-gap","tag-metriky","tag-senzory","tag-sim-to-real-autonomia","tag-transfer-learning","tag-validacia"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.5 - 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