21 papers
Continuous-Time Covariance Steering with Common Free-Final Time: Finite-Horizon Solutions and Infinite-Horizon Limits
Akan Selim, Fengjiao Liu, Siddhartha Ganguly +1
This article studies the optimal common free-final time problem for steering the state covariance of a continuous-time stochastic linear system between prescribed initial and termi…
Conflict-Based Lazy Search for Fast Multi-Manipulator Planning
Dongliang Zheng, Zhipeng Wang, Siqi Wang +4
Employing multiple manipulators can boost efficiency and accomplish tasks that a single manipulator cannot do. However, real-time planning for multiple manipulators in a cluttered…
Lifted Schrödinger Bridges for Gaussian Mixture Endpoints: Projection Gaps and Path-Space Obstructions
Siddhartha Ganguly, George Rapakoulias, Panagiotis Tsiotras
We study stochastic density control between Gaussian-mixture endpoint distributions under Brownian prior dynamics. Since the direct Schrödinger bridge between Gaussian mixtures is…
Stochastic Transition-Map Distillation for Fast Probabilistic Inference
George Rapakoulias, Peter Garud, Lingjiong Zhu +1
Diffusion models achieve strong generation quality, diversity, and distribution coverage, but their performance often comes with expensive inference. In this work, we propose Stoch…
Asymmetric-Information Resource Allocation Games: An LP Approach to Purposeful Deception
Longxu Pan, Yue Guan, Daigo Shishika +1
In this work, we introduce the Deceptive Resource Allocation Game (DRAG), which studies purposeful deception within a Bayesian game framework. In DRAG, a Defender allocates resourc…
Reachability Analysis of the State Transition and State Covariance Matrices for an LTV System
Fengjiao Liu, Yixiao Zhang, Panagiotis Tsiotras
In this paper, we study the reachability of two closely related matrices appearing in the analysis of linear time-varying (LTV) systems over a finite time interval, namely, its clo…