2 citations · 4 across the 18 of their papers we have counts for
18 papers
Kolmogorov Regression for Robust Diffusion Policies
Lekan Molu
Finite-dimensional (FD) diffusion policies exhibit temporal drift owing to discretization artifacts that degrade long-horizon performance (when deployed on physical systems). We in…
A Generalized Nash Equilibrium-Seeking Scheme for Trauma Resuscitation
Promise Ekpo, Angelique Taylor, Lekan Molu
Trauma resuscitation is a clinical process for treating life-threatening physiological disorders in safety-critical environments, driven by the experience of healthcare workers (HC…
HJ-Gauss: A Monte-Carlo HJ Reachability Scheme
Lekan Molu, Venkatraman Renganathan, Namhoon Cho
Backward reachable sets or tubes (BRS/Ts), evaluated with grid-based level-set methods over viscous Hamilton-Jacobi (HJ) equations, furnish principled reachability certificates for…
AdaFair-MARL: Enforcing Adaptive Fairness Constraints in Multi-Agent Reinforcement Learning
Promise Ekpo, Saesha Agarwal, Felix Grimm +2
Fair workload enforcement in heterogeneous multi-agent systems that pursue shared objectives remains challenging. Fixed fairness penalties often introduce inefficiencies, training…
Skill-Aligned Fairness in Multi-Agent Learning for Collaboration in Healthcare
Promise Osaine Ekpo, Brian La, Thomas Wiener +5
Fairness in multi-agent reinforcement learning (MARL) is often framed as a workload balance problem, overlooking agent expertise and the structured coordination required in real-wo…
LevelSetPy: A GPU-Accelerated Package for Hyperbolic Hamilton-Jacobi Partial Differential Equations
Lekan Molu
This article introduces a software package release for geometrically reasoning about the \textit{safety} desiderata of (complex) dynamical systems via level set methods. In emphasi…
Is Bellman Equation Enough for Learning Control?
Haoxiang You, Lekan Molu, Ian Abraham
The Bellman equation and its continuous-time counterpart, the Hamilton-Jacobi-Bellman (HJB) equation, serve as necessary conditions for optimality in reinforcement learning and opt…
The Python LevelSet Toolbox (LevelSetPy)
Lekan Molu
This paper describes open-source scientific contributions in python surrounding the numerical solutions to hyperbolic Hamilton-Jacobi (HJ) partial differential equations viz., thei…
Verification-Aided Learning of Neural Network Barrier Functions with Termination Guarantees
Shaoru Chen, Lekan Molu, Mahyar Fazlyab
Barrier functions are a general framework for establishing a safety guarantee for a system. However, there is no general method for finding these functions. To address this shortco…
Lagrangian Properties and Control of Soft Robots Modeled with Discrete Cosserat Rods
Lekan Molu, Shaoru Chen, Audrey Sedal
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing su…
Fast Whole-Body Strain Regulation in Continuum Robots
Lekan Molu
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a mode…
PcLast: Discovering Plannable Continuous Latent States
Anurag Koul, Shivakanth Sujit, Shaoru Chen +11
Goal-conditioned planning benefits from learned low-dimensional representations of rich observations. While compact latent representations typically learned from variational autoen…
Mixed -Policy Learning Synthesis
Lekan Molu
A robustly stabilizing optimal control policy in a model-free mixed -control setting is here put forward for counterbalancing the slow convergence…
Comments on "Time-Varying Lyapunov Functions for Tracking Control of Mechanical Systems With and Without Frictions"
Lekan Molu
In the article, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equati…
Robust Policy Optimization in Continuous-time Mixed Stochastic Control
Leilei Cui, Lekan Molu
Following the recent resurgence in establishing linear control theoretic benchmarks for reinforcement leaning (RL)-based policy optimization (PO) for complex dynamical systems with…
Guaranteed Discovery of Control-Endogenous Latent States with Multi-Step Inverse Models
Alex Lamb, Riashat Islam, Yonathan Efroni +7
In many sequential decision-making tasks, the agent is not able to model the full complexity of the world, which consists of multitudes of relevant and irrelevant information. For…
Interaction-Grounded Learning with Action-inclusive Feedback
Tengyang Xie, Akanksha Saran, Dylan J. Foster +5
Consider the problem setting of Interaction-Grounded Learning (IGL), in which a learner's goal is to optimally interact with the environment with no explicit reward to ground its p…
A Second-Order Reachable Sets Computation Scheme via a Cauchy-Type Variational Hamilton-Jacobi-Isaacs Equation
Lekan Molu, Ian Abraham, Sylvia Herbert
Motivated by the scalability limitations of Eulerian methods for variational Hamilton-Jacobi-Isaacs (HJI) formulations that provide a least restrictive controller in problems that…