{"id":"https://openalex.org/W4389665940","doi":"https://doi.org/10.1109/iros55552.2023.10342062","title":"Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots","display_name":"Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665940","doi":"https://doi.org/10.1109/iros55552.2023.10342062"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002989902","display_name":"Nitish Sontakke","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nitish Sontakke","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology,Atlanta,GA,USA,30308"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology,Atlanta,GA,USA,30308","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021215670","display_name":"Hosik Chae","orcid":"https://orcid.org/0009-0008-5884-6670"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hosik Chae","raw_affiliation_strings":["University of California,Los Angeles (UCLA),Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Los Angeles (UCLA),Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735236","display_name":"Sang Joon Lee","orcid":"https://orcid.org/0000-0001-6673-569X"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangjoon Lee","raw_affiliation_strings":["University of California,Los Angeles (UCLA),Department of Computer Science,Los Angeles,CA,USA,90095"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Los Angeles (UCLA),Department of Computer Science,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035273938","display_name":"Tianle Huang","orcid":"https://orcid.org/0009-0009-0184-7899"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianle Huang","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology,Atlanta,GA,USA,30308"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology,Atlanta,GA,USA,30308","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis W. Hong","raw_affiliation_strings":["University of California,Los Angeles (UCLA),Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Los Angeles (UCLA),Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062437148","display_name":"S. R. P. van Hal","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sehoon Hal","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology,Atlanta,GA,USA,30308"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology,Atlanta,GA,USA,30308","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.914,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.71765339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"392","last_page":"399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6861488819122314},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6430889964103699},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.592568039894104},{"id":"https://openalex.org/keywords/physics-engine","display_name":"Physics engine","score":0.5862119793891907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.558545708656311},{"id":"https://openalex.org/keywords/dynamical-simulation","display_name":"Dynamical simulation","score":0.546989381313324},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5272461771965027},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5185430645942688},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5156720876693726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46580320596694946},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.42534810304641724},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42488664388656616},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.351351261138916},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27292460203170776},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11075615882873535},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08489009737968445}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6861488819122314},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6430889964103699},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.592568039894104},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.5862119793891907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.558545708656311},{"id":"https://openalex.org/C81587630","wikidata":"https://www.wikidata.org/wiki/Q5319044","display_name":"Dynamical simulation","level":2,"score":0.546989381313324},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5272461771965027},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5185430645942688},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5156720876693726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46580320596694946},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.42534810304641724},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42488664388656616},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.351351261138916},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27292460203170776},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11075615882873535},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08489009737968445},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G5363928101","display_name":"NRI: INT: Collaborative Research: Buoyancy-assisted Collaborative Robots That are Cheap, Safe, and Never Fall Down.","funder_award_id":"2024768","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W1481659984","https://openalex.org/W2006325878","https://openalex.org/W2034825286","https://openalex.org/W2067809576","https://openalex.org/W2082511574","https://openalex.org/W2106865725","https://openalex.org/W2169501349","https://openalex.org/W2215086970","https://openalex.org/W2562736583","https://openalex.org/W2575464634","https://openalex.org/W2576601164","https://openalex.org/W2605102758","https://openalex.org/W2736601468","https://openalex.org/W2767050701","https://openalex.org/W2796290181","https://openalex.org/W2799794830","https://openalex.org/W2801572960","https://openalex.org/W2885596080","https://openalex.org/W2907537824","https://openalex.org/W2911087563","https://openalex.org/W2914584698","https://openalex.org/W2921572638","https://openalex.org/W2949186255","https://openalex.org/W2963092423","https://openalex.org/W2963184939","https://openalex.org/W2963614114","https://openalex.org/W2968116426","https://openalex.org/W3003647188","https://openalex.org/W3007553593","https://openalex.org/W3037262181","https://openalex.org/W3038194455","https://openalex.org/W3088310808","https://openalex.org/W3101442004","https://openalex.org/W3104515094","https://openalex.org/W3107153805","https://openalex.org/W3120778962","https://openalex.org/W3124746276","https://openalex.org/W3147968035","https://openalex.org/W3176539729","https://openalex.org/W3177010373","https://openalex.org/W3181074849","https://openalex.org/W3202883604","https://openalex.org/W3206393052","https://openalex.org/W3206620955","https://openalex.org/W3206762371","https://openalex.org/W3206804182","https://openalex.org/W3207570091","https://openalex.org/W3207591725","https://openalex.org/W3212580602","https://openalex.org/W3212994322","https://openalex.org/W3216772467","https://openalex.org/W4200119673","https://openalex.org/W4205430897","https://openalex.org/W4229014698","https://openalex.org/W4229044820","https://openalex.org/W4285102199","https://openalex.org/W4312900898","https://openalex.org/W6692846177","https://openalex.org/W6741002519","https://openalex.org/W6751107636","https://openalex.org/W6756581457","https://openalex.org/W6757380569","https://openalex.org/W6766161879","https://openalex.org/W6774126978","https://openalex.org/W6804601995"],"related_works":["https://openalex.org/W2089992767","https://openalex.org/W2156767205","https://openalex.org/W3043483703","https://openalex.org/W622403409","https://openalex.org/W4254806825","https://openalex.org/W4288373268","https://openalex.org/W2567089594","https://openalex.org/W3127082165","https://openalex.org/W4387596100","https://openalex.org/W2940081677"],"abstract_inverted_index":{"The":[0],"light":[1],"and":[2,29,35,67,90,156],"soft":[3],"characteristics":[4],"of":[5,57,83,167],"Buoyancy":[6],"Assisted":[7],"Lightweight":[8],"Legged":[9],"Unit":[10],"(BALLU)":[11],"robots":[12,63],"have":[13],"a":[14],"great":[15],"potential":[16],"to":[17,40,108,114,121,152],"provide":[18],"intrinsically":[19],"safe":[20],"interactions":[21],"in":[22,45],"environments":[23],"involving":[24],"humans,":[25],"unlike":[26],"many":[27],"heavy":[28],"rigid":[30],"robots.":[31],"However,":[32],"their":[33],"unique":[34],"sensitive":[36],"dynamics":[37,82],"impose":[38],"challenges":[39],"obtaining":[41],"robust":[42,54],"control":[43,58],"policies":[44,59,158],"the":[46,61,80,84,92,130,136,140,147,165],"real":[47],"world.":[48],"In":[49],"this":[50],"work,":[51],"we":[52,78,103],"demonstrate":[53,145],"sim-to-real":[55],"transfer":[56],"on":[60,98,164],"BALLU":[62],"via":[64],"system":[65],"identification":[66],"our":[68],"novel":[69],"residual":[70,123],"physics":[71,124],"learning":[72,101,107],"method,":[73],"Environment":[74],"Mimic":[75],"(EnvMimic).":[76],"First,":[77],"model":[79,122],"nonlinear":[81],"actuators":[85],"by":[86,134],"collecting":[87],"hardware":[88,166],"data":[89],"optimizing":[91],"simulation":[93,132,137],"parameters.":[94],"Rather":[95],"than":[96],"relying":[97],"standard":[99],"supervised":[100],"formulations,":[102],"utilize":[104],"deep":[105],"reinforcement":[106],"train":[109],"an":[110],"external":[111],"force":[112],"policy":[113],"match":[115],"real-world":[116,141],"trajectories,":[117],"which":[118],"enables":[119],"us":[120,151],"with":[125],"greater":[126],"fidelity.":[127],"We":[128,143],"analyze":[129],"improved":[131,148],"fidelity":[133],"comparing":[135],"trajectories":[138],"against":[139],"ones.":[142],"finally":[144],"that":[146,159],"simulator":[149],"allows":[150],"learn":[153],"better":[154],"walking":[155],"turning":[157],"can":[160],"be":[161],"successfully":[162],"deployed":[163],"BALLU.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}