1 code implementation • 3 Jan 2024 • Lei Zhang, Mukesh Ghimire, Zhe Xu, Wenlong Zhang, Yi Ren
To address these challenges, we propose in this paper a Pontryagin-mode neural operator that outperforms the current state-of-the-art hybrid PINN model on safety performance across games with parametric state constraints.
1 code implementation • 28 Nov 2023 • Lei Zhang, Mukesh Ghimire, Wenlong Zhang, Zhe Xu, Yi Ren
Solving Hamilton-Jacobi-Isaacs (HJI) PDEs numerically enables equilibrial feedback control in two-player differential games, yet faces the curse of dimensionality (CoD).
no code implementations • 5 Jul 2022 • Lei Zhang, Mukesh Ghimire, Wenlong Zhang, Zhe Xu, Yi Ren
This paper investigates two potential solutions to this problem: a hybrid method that leverages both supervised Nash equilibria and the HJI PDE, and a value-hardening method where a sequence of HJIs are solved with a gradually hardening reward.
2 code implementations • 24 Dec 2021 • Mukesh Ghimire, Malobika Roy Choudhury, Guna Sekhar Sai Harsha Lagudu
Due to the complexity and volatility of the traffic environment, decision-making in autonomous driving is a significantly hard problem.