5 papers
Differentiable Environment-Trajectory Co-Optimization for Safe Multi-Agent Navigation
Zhan Gao, Gabriele Fadini, Stelian Coros +1
The environment plays a critical role in multi-agent navigation by imposing spatial constraints, rules, and limitations that agents must navigate around. Traditional approaches tre…
ReCoDe: Reinforcement Learning-based Dynamic Constraint Design for Multi-Agent Coordination
Michael Amir, Guang Yang, Zhan Gao +3
Constraint-based optimization is a cornerstone of robotics, enabling the design of controllers that reliably encode task and safety requirements such as collision avoidance or form…
Co-Optimizing Reconfigurable Environments and Policies for Decentralized Multi-Agent Navigation
Zhan Gao, Guang Yang, Amanda Prorok
This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions…
On the Trade-Off between Stability and Representational Capacity in Graph Neural Networks
Zhan Gao, Amanda Prorok, Elvin Isufi
Analyzing the stability of graph neural networks (GNNs) under topological perturbations is key to understanding their transferability and the role of each architecture component. H…
Environment Optimization for Multi-Agent Navigation
Zhan Gao, Amanda Prorok
Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on ag…