3 citations · 7 across the 23 of their papers we have counts for
9 papers · 1 filter
A Theoretical Framework for Parallel Lifelong MAPF Using Group Decentralized Planning
Alex DeWeese, Jiaoyang Li, Guannan Qu
In the Lifelong Multi-Agent Path Finding (L-MAPF) problem, agents must repeatedly move from one destination to another while avoiding obstacles and inter-agent collisions. Widely r…
Scalable Long-Horizon Planning with Staggered Updates for Lifelong MAPF
Vaibhav Sanjay, Jiaoyang Li
Lifelong Multi-Agent Path Finding (LMAPF) requires generating collision-free paths for large agent fleets under strict real-time constraints. Reactive frameworks such as PIBT and E…
Search-Aided Joint Agent-Environment Reinforcement Learning for Robust Lifelong Multi-Agent Path Finding with Rotations
He Jiang, Jingtian Yan, Yulun Zhang +5
Lifelong Multi-Agent Path Finding (LMAPF) requires repeatedly planning collision-free paths for agents that continuously receive new goals upon reaching their current ones. While m…
Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces
Yorai Shaoul, Jiaoyang Li, Maxim Likhachev
Learned manipulation policies increasingly predict motions for abstract "hands" and are attractive in practice because they rely on easily collected demonstrations and transfer acr…
Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning
Zhilin He, Yorai Shaoul, Jiaoyang Li
Multi-Robot Motion Planning in continuous environments, where robots must generate dynamically feasible, collision-free trajectories, is challenging due to the combinatorial growth…
Diffusion for Long-Horizon Multi-Robot Path Planning in Human-Shared Environments
Vaibhav Sanjay, Yorai Shaoul, Jiaoyang Li
Multi-robot path planning in human-shared environments requires a delicate balance between robust inter-robot coordination and socially aware behavior. While diffusion models excel…
LAMP: Long-Horizon Adaptive Manipulation Planning for Multi-Robot Collaboration in Cluttered Space
Shuai Zhou, Yorai Shaoul, Jiaoyang Li
Multi-robot manipulation requires jointly reasoning about contact formations, robot motions under coupled dynamics, and collision avoidance. Systematically searching over this larg…
Optimization of Edge Directions and Weights for Mixed Guidance Graphs in Lifelong Multi-Agent Path Finding
Yulun Zhang, Varun Bhatt, Matthew C. Fontaine +2
Multi-Agent Path Finding (MAPF) aims to move agents from their start to goal vertices on a graph. Lifelong MAPF (LMAPF) continuously assigns new goals to agents as they complete cu…
Planning over MAPF Agent Dependencies via Multi-Dependency PIBT
Zixiang Jiang, Yulun Zhang, Rishi Veerapaneni +1
Modern Multi-Agent Path Finding (MAPF) algorithms must plan for hundreds to thousands of agents in congested environments within a second, requiring highly efficient algorithms. Pr…