3 citations · 4 across the 11 of their papers we have counts for
11 papers
Real-Time Shape Control of Multi-Segment Soft Robotic Arms Using Koopman Operators with Global and Local Observables
Jiahe Wang, Eron Ristich, Sultan Haidar Ali +5
Multi-segment soft robotic arms can continuously reconfigure their body shapes for safe interaction, but tip control alone is insufficient for constrained-space tasks. Therefore, s…
Shape control of simulated multi-segment continuum robots via Koopman operators with per-segment projection
Eron Ristich, Jiahe Wang, Lei Zhang +4
Soft continuum robots can allow for biocompatible yet compliant motions, such as the ability of octopus arms to swim, crawl, and manipulate objects. However, current state-of-the-a…
Learning Nash Equilibrial Hamiltonian for Two-Player Collision-Avoiding Interactions
Lei Zhang, Siddharth Das, Tanner Merry +2
We consider the problem of learning Nash equilibrial policies for two-player risk-sensitive collision-avoiding interactions. Solving the Hamilton-Jacobi-Isaacs equations of such ge…
Parametric Value Approximation for General-sum Differential Games with State Constraints
Lei Zhang, Mukesh Ghimire, Wenlong Zhang +2
General-sum differential games can approximate values solved by Hamilton-Jacobi-Isaacs (HJI) equations for efficient inference when information is incomplete. However, solving such…
Two-Player Zero-Sum Differential Games with One-Sided Information
Mukesh Ghimire, Zhe Xu, Yi Ren
Unlike Poker where the action space is discrete, differential games in the physical world often have continuous action spaces not amenable to discrete abstraction, re…
Solving Football by Exploiting Equilibrium Structure of 2p0s Differential Games with One-Sided Information
Mukesh Ghimire, Lei Zhang, Zhe Xu +1
For a two-player imperfect-information extensive-form game (IIEFG) with time steps and a player action space of size , the game tree complexity is , causing existing…
Physics-informed Split Koopman Operators for Data-efficient Soft Robotic Simulation
Eron Ristich, Lei Zhang, Yi Ren +1
Koopman operator theory provides a powerful data-driven technique for modeling nonlinear dynamical systems in a linear framework, in comparison to computationally expensive and hig…
State-Constrained Zero-Sum Differential Games with One-Sided Information
Mukesh Ghimire, Lei Zhang, Zhe Xu +1
We study zero-sum differential games with state constraints and one-sided information, where the informed player (Player 1) has a categorical payoff type unknown to the uninformed…
Pontryagin Neural Operator for Solving Parametric General-Sum Differential Games
Lei Zhang, Mukesh Ghimire, Zhe Xu +2
The values of two-player general-sum differential games are viscosity solutions to Hamilton-Jacobi-Isaacs (HJI) equations. Value and policy approximations for such games suffer fro…
Solving Two-Player General-Sum Games Between Swarms
Mukesh Ghimire, Lei Zhang, Wenlong Zhang +2
Hamilton-Jacobi-Isaacs (HJI) PDEs are the governing equations for the two-player general-sum games. Unlike Reinforcement Learning (RL) methods, which are data-intensive methods for…
Value Approximation for Two-Player General-Sum Differential Games with State Constraints
Lei Zhang, Mukesh Ghimire, Wenlong Zhang +2
Solving Hamilton-Jacobi-Isaacs (HJI) PDEs numerically enables equilibrial feedback control in two-player differential games, yet faces the curse of dimensionality (CoD). While phys…