Devesh K. Jha

Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation

2020 · arXiv (Cornell University)

Humans quickly solve tasks in novel systems with complex dynamics, without requiring much interaction. While deep reinforcement learning algorithms have achieved tremendous success in many complex tasks, these algorithms need a large number of samples …

Covariance Steering for Uncertain Contact-rich Systems

2023

Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using complementarity constraints among other techniques. In this paper, …