5 papers
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…
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…
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…
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…