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In this letter, the authors propose a two-step approach to evaluate andverify a true system's capacity to satisfy its operational objective.Specifically, whenever the system objective has a quantifiable measure ofsatisfaction, i.e. a signal temporal logic specification, a barrier function,etc - the authors develop two separate optimization problems solvable via aBayesian Optimization procedure detailed within. This dual approach has theadded benefit of quantifying the Sim2Real Gap between a system simulator andits hardware counterpart. Our contributions are twofold. First, we showrepeatability with respect to our outlined optimization procedure in solvingthese optimization problems. Second, we show that the same procedure candiscriminate between different environments by identifying the Sim2Real Gapbetween a simulator and its hardware counterpart operating in differentenvironments.

Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification