Assessment Package: Module 10 - Sim-to-Real Transfer
Assessment Overview​
| Component | Weight | Format | Duration |
|---|---|---|---|
| Theory Quiz | 15% | Multiple choice | 30 minutes |
| Lab Exercises | 35% | Implementation | 3 labs |
| Transfer Project | 35% | Real hardware deployment | 1 week |
| Ethics Discussion | 15% | Written reflection | 500 words |
| Total | 100% |
Theory Quiz (Sample Questions)​
Q1. Domain randomization helps sim-to-real transfer by:
- a) Making simulation faster
- b) Training on distribution that includes reality
- c) Eliminating all sim-to-real gaps
- d) Removing need for real testing
Answer: b) Training on distribution that includes reality
Q2. System identification is used to:
- a) Name the robot
- b) Estimate real robot parameters
- c) Generate random parameters
- d) Simulate faster
Answer: b) Estimate real robot parameters
Lab Exercise Rubrics​
Lab 10-01: Domain Randomization (30%)​
- Physics randomization: 25 pts
- Visual randomization: 20 pts
- Curriculum learning: 20 pts
- Analysis: 20 pts
- Documentation: 15 pts
Lab 10-02: System Identification (35%)​
- Step response: 25 pts
- Friction identification: 25 pts
- Frequency response: 20 pts
- Validation: 20 pts
- Analysis: 10 pts
Lab 10-03: Complete Transfer (35%)​
- Training in sim: 20 pts
- Deployment to hardware: 40 pts
- Performance metrics: 20 pts
- Gap analysis: 20 pts
Transfer Project​
Objective: Train and deploy navigation controller
Requirements:
- Train in randomized simulation
- Validate with identified parameters
- Deploy to TurtleBot 4
- Achieve >70% success on test course
- Document remaining sim-to-real gaps
Grading: Success rate (40%), analysis quality (30%), documentation (30%)
Ethics Discussion​
Reflect on simulation testing adequacy for safety-critical robotics applications.
Rubric: Analysis depth (40%), practical proposals (30%), ethical reasoning (30%)