Search Results for author: Ioannis Exarchos

Found 9 papers, 2 papers with code

Deep $\mathcal{L}^1$ Stochastic Optimal Control Policies for Planetary Soft-landing

no code implementations1 Sep 2021 Marcus A. Pereira, Camilo A. Duarte, Ioannis Exarchos, Evangelos A. Theodorou

In this paper, we introduce a novel deep learning based solution to the Powered-Descent Guidance (PDG) problem, grounded in principles of nonlinear Stochastic Optimal Control (SOC) and Feynman-Kac theory.

Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact

no code implementations30 Mar 2021 Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu

We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics. org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation.

Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints

1 code implementation8 Mar 2021 Ioannis Exarchos, Brian H. Do, Fabio Stroppa, Margaret M. Coad, Allison M. Okamura, C. Karen Liu

Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an increased workspace, with potential application in home environments.

Robotics

Large-Scale Multi-Agent Deep FBSDEs

no code implementations21 Nov 2020 Tianrong Chen, Ziyi Wang, Ioannis Exarchos, Evangelos A. Theodorou

We showcase superior performance of our framework over the state-of-the-art deep fictitious play algorithm on an inter-bank lending/borrowing problem in terms of multiple metrics.

Decision Making

Policy Transfer via Kinematic Domain Randomization and Adaptation

1 code implementation3 Nov 2020 Ioannis Exarchos, Yifeng Jiang, Wenhao Yu, C. Karen Liu

Transferring reinforcement learning policies trained in physics simulation to the real hardware remains a challenge, known as the "sim-to-real" gap.

Domain Adaptation

Multi-agent Deep FBSDE Representation For Large Scale Stochastic Differential Games

no code implementations28 Sep 2020 Tianrong Chen, Ziyi Wang, Ioannis Exarchos, Evangelos Theodorou

In this paper we present a deep learning framework for solving large-scale multi-agent non-cooperative stochastic games using fictitious play.

Decision Making

Safe Optimal Control Using Stochastic Barrier Functions and Deep Forward-Backward SDEs

no code implementations2 Sep 2020 Marcus Aloysius Pereira, Ziyi Wang, Ioannis Exarchos, Evangelos A. Theodorou

This paper introduces a new formulation for stochastic optimal control and stochastic dynamic optimization that ensures safety with respect to state and control constraints.

NOVAS: Non-convex Optimization via Adaptive Stochastic Search for End-to-End Learning and Control

no code implementations ICLR 2021 Ioannis Exarchos, Marcus A. Pereira, Ziyi Wang, Evangelos A. Theodorou

In this work we propose the use of adaptive stochastic search as a building block for general, non-convex optimization operations within deep neural network architectures.

Structured Prediction

Deep Forward-Backward SDEs for Min-max Control

no code implementations11 Jun 2019 Ziyi Wang, Keuntaek Lee, Marcus A. Pereira, Ioannis Exarchos, Evangelos A. Theodorou

This paper presents a novel approach to numerically solve stochastic differential games for nonlinear systems.

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