Research In progress
Sim to real: closing the gaps
Where the GOAT RACER digital twin and the real car disagree, how we measure each gap, and how we close it. This note is being written now; sections fill in as the work lands.
The loop
Train in Isaac Lab, check in software-in-the-loop, run on the car.
Fitting the twin to the car's own logs
Replay real drives through the sim and score it against what the car measured.
Gap: the IMU and gravity
To be written.
Gap: braking
To be written.
Gap: steering at full lock
To be written.
Gap: chassis inertia
To be written.
Gap: the camera and VSLAM
To be written.
Results on the real car
To be written.