Hi, I'm Oswin.
I'm a third year graduate student in REALM at MIT working on safe planning and control.
Previously, I did undergraduate research in the Autonomous Decision Systems Laboratory at Georgia Tech working on the areas of stochastic optimization and risk-sensitive control.
I was the software core chair for RoboJackets in 2020, as well as a software member on our RoboCup SSL team. In the past, I was also the software lead for the IGVC team.
Links
Publications (Potentially outdated. For an updated list, see my Google Scholar page)
- Allen M Wang, Oswin So, Charles Dawson, Darren T Garnier, Cristina Rea, Chuchu Fan. "Active Disruption Avoidance and Trajectory Design for Tokamak Ramp-downs with Neural Differential Equations and Reinforcement Learning". Under Review.
- Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan. "GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control". Under Review for TRO
- Kunal Garg, Songyuan Zhang, Oswin So, Charles Dawson, Chuchu Fan. "Learning safe control for multi-robot systems: Methods, verification, and open challenges". Annual Reviews in Control
- Oswin So, Zachary Serlin, Makai Mann, Jake Gonzales, Kwesi Rutledge, Nicholas Roy, Chuchu Fan. "How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems". ICRA 2024
- Oswin So, Chuchu Fan. "Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning". RSS 2023
- Oswin So, Paul Drews, Thomas Balch, Velin Dimitrov, Guy Rosman, Evangelos A Theodorou. "MPOGames: Efficient Multimodal Partially Observable Dynamic Games". ICRA 2023
- Oswin So, Gongjie Li, Evangelos A Theodorou, Molei Tao. "Data-driven discovery of non-Newtonian astronomy via learning non-Euclidean Hamiltonian". NeurIPS 2022, ML4PS
- Guan-Horng Liu, Tianrong Chen*, Oswin So*, Evangelos A Theodorou. "Deep Generalized Schrodinger Bridge". NeurIPS 2022
- Oswin So, Kyle Stachowicz, Evangelos A. Theodorou. "Multimodal Maximum Entropy Dynamic Games".
- Marcus A. Pereira, Augustinos D. Saravanos, Oswin So, and Evangelos A. Theodorou. "Decentralized Safe Multi-agent Stochastic Optimal Control using Deep FBSDEs and ADMM". RSS 2022.
- Oswin So, Ziyi Wang, Evangelos A. Theodorou. "Maximum Entropy Differential Dynamic Programming". ICRA 2022.
- Oswin So*, Ziyi Wang*, Jason Gibson, Bogdan Vlahov, Manan S. Gandhi, Guan-Horng Liu, Evangelos A. Theodorou. "Variational Inference MPC using Tsallis Divergence". RSS 2021.
- Ziyi Wang, Oswin So, Keuntaek Lee, Camilo A. Duarte, Evangelos A. Theodorou. "Adaptive Risk Sensitive Model Predictive Control with Stochastic Search". L4DC 2020.
- Ethan N. Evans, Oswin So, Andrew P. Kendall, Guan-Horng Liu, Evangelos A. Theodorou. "Differential Dynamic Programming for Distributed and Boundary Control of Fields". Under Review.
