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Towards Certified Sim-to-Real Transfer via Stochastic Simulation-Gap Functions

Lookup NU author(s): Dr Abolfazl LavaeiORCiD

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Abstract

© 2026 EUCA.This paper introduces the notion of stochastic simulation-gap function, which formally quantifies the gap between an approximate mathematical model and a high-fidelity stochastic simulator. Since controllers designed for the mathematical model may fail in practice due to unmodeled gaps, the stochastic simulation-gap function enables the simulator to be interpreted as the nominal model with bounded state-and input-dependent disturbances. We propose a data-driven approach and establish a formal guarantee on the quantification of this gap. Leveraging the stochastic simulation-gap function, we design a controller for the mathematical model that ensures the desired specification is satisfied in the high-fidelity simulator with high confidence, taking a step toward bridging the sim-to-real gap. We demonstrate the effectiveness of the proposed method using a TurtleBot model and a pendulum system in stochastic simulators.

Publication metadata

Author(s): Sangeerth P, Lavaei A, Jagtap P

Publication type: Conference Proceedings (inc. Abstract)

Publication status: Published

Conference Name: 2026 European Control Conference (ECC)

Year of Conference: 2026

Pages: 1593-1598

Online publication date: 07/08/2026

Acceptance date: 02/04/2018

Publisher: Institute of Electrical and Electronics Engineers Inc.

URL: https://ieeexplore.ieee.org/document/11625354

Library holdings: Search Newcastle University Library for this item

ISBN: 9783907144138

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