Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots
Nitish Sontakke,Hosik Chae,Sangjoon Lee,Tianle Huang,Dennis W. Hong,Sehoon Hal,Nitish Sontakke,Hosik Chae,Sangjoon Lee,Tianle Huang,Dennis W. Hong,Sehoon Hal
The light and soft characteristics of Buoyancy Assisted Lightweight Legged Unit (BALLU) robots have a great potential to provide intrinsically safe interactions in environments involving humans, unlike many heavy and rigid robots. However, their unique and sensitive dynamics impose challenges to obtaining robust control policies in the real world. In this work, we demonstrate robust sim-to-real tr...
