2 citations · 4 across the 2 of their papers we have counts for
6 papers
DASH: Modularized Human Manipulation Simulation with Vision and Language for Embodied AI
Yifeng Jiang, Michelle Guo, Jiangshan Li +3
Creating virtual humans with embodied, human-like perceptual and actuation constraints has the promise to provide an integrated simulation platform for many scientific and engineer…
Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints
Ioannis Exarchos, Karen Wang, Brian H. Do +4
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms,…
Large-Scale Multi-Agent Deep FBSDEs
Tianrong Chen, Ziyi Wang, Ioannis Exarchos +1
In this paper we present a scalable deep learning framework for finding Markovian Nash Equilibria in multi-agent stochastic games using fictitious play. The motivation is inspired…
Policy Transfer via Kinematic Domain Randomization and Adaptation
Ioannis Exarchos, Yifeng Jiang, Wenhao Yu +1
Transferring reinforcement learning policies trained in physics simulation to the real hardware remains a challenge, known as the "sim-to-real" gap. Domain randomization is a simpl…
Safe Optimal Control Using Stochastic Barrier Functions and Deep Forward-Backward SDEs
Marcus Aloysius Pereira, Ziyi Wang, Ioannis Exarchos +1
This paper introduces a new formulation for stochastic optimal control and stochastic dynamic optimization that ensures safety with respect to state and control constraints. The pr…
Deep Forward-Backward SDEs for Min-max Control
Ziyi Wang, Keuntaek Lee, Marcus A. Pereira +2
This paper presents a novel approach to numerically solve stochastic differential games for nonlinear systems. The proposed approach relies on the nonlinear Feynman-Kac theorem tha…