Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots

no code implementations • 16 Mar 2023 • Nitish Sontakke, Hosik Chae, Sangjoon Lee, Tianle Huang, Dennis W. Hong, Sehoon Ha

In this work, we demonstrate robust sim-to-real transfer of control policies on the BALLU robots via system identification and our novel residual physics learning method, Environment Mimic (EnvMimic).