6 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…
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…