no code implementations • 16 Oct 2023 • Tianle Huang, Nitish Sontakke, K. Niranjan Kumar, Irfan Essa, Stefanos Nikolaidis, Dennis W. Hong, Sehoon Ha
Domain randomization (DR), which entails training a policy with randomized dynamics, has proven to be a simple yet effective algorithm for reducing the gap between simulation and the real world.
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).
