9 papers
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…
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…
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…