Tianle Huang — accepted AI-conference papers

2024

BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning

Tianle Huang, Nitish Sontakke, K. Niranjan Kumar, Irfan Essa, Stefanos Nikolaidis, Dennis W. Hong +1

IROS 2024poster

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. However, DR often requires careful tuning of randomization parameters. Methods like Bayesian Domain Rando…

Cited by 3 Source ↗Scholar ↗

2023

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

IROS 2023poster

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 obt…

Cited by 11 Source ↗Scholar ↗