Article

IDTD: Information-Decoupled Trajectory Design for Sim-to-Real System Identification

The authors propose an information-decoupled trajectory design framework, IDTD, which constructs an exploration objective from a Schur complement score derived from the Fisher information matrix, then normalizes by parameter, selects the optimal trajectory segment for each parameter, and aggregates the scores logarithmically, to mitigate unreliable identification caused by indistinguishable parameters.

Part of the event: IDTD Trajectory Design Framework for System Identification

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