DoorGym: A Scalable Door Opening Environment And Baseline Agent

In order to practically implement the door opening task, a policy ought to be robust to a wide distribution of door types and environment settings. Reinforcement Learning (RL) with Domain Randomization (DR) is a promising technique to enforce policy generalization, however, there are only a few accessible training environments that are inherently designed to train agents in domain randomized environments. We introduce DoorGym, an open-source door opening simulation framework designed to utilize domain randomization to train a stable policy. We intend for our environment to lie at the intersection of domain transfer, practical tasks, and realism. We also provide baseline Proximal Policy Optimization and Soft Actor-Critic implementations, which achieves success rates between 0% up to 95% for opening various types of doors in this environment. Moreover, the real-world transfer experiment shows the trained policy is able to work in the real world. Environment kit available here: https://github.com/PSVL/DoorGym/Comment: Full version (Real world transfer experiments result

Validation by Measurements of a IC Modeling Approach for SiP Applications

The growing importance of signal integrity (SI) analysis in integrated circuits (ICs), revealed by modern systemin-package methods, is demanding for new models for the IC sub-systems which are both accurate, efficient and extractable by simple measurement procedures. This paper presents the contribution for the establishment of an integrated IC modeling approach whose performance is assessed by direct comparison with the signals measured in laboratory of two distinct memory IC devices. Based on the identification of the main blocks of a typical IC device, the modeling approach consists of a network of system-level sub-models, some of which with already demonstrated accuracy, which simulated the IC interfacing behavior. Emphasis is given to the procedures that were developed to validate by means of laboratory measurements (and not by comparison with circuit-level simulations) the model performance, which is a novel and important aspect that should be considered in the design of IC models that are useful for SI analysi