4 papers
Diffusion-Based Optimization for Accelerated Convergence of Redundant Dual-Arm Minimum Time Problems
Jushan Chen, Jonathan Fried, Santiago Paternain
We present a framework leveraging a novel variant of the model-based diffusion algorithm to minimize the time required for a redundant dual-arm robot configuration to follow a desi…
PAD-TRO: Projection-Augmented Diffusion for Direct Trajectory Optimization
Jushan Chen, Santiago Paternain
Recently, diffusion models have gained popularity and attention in trajectory optimization due to their capability of modeling multi-modal probability distributions. However, addre…
Learning Closed-Loop Parametric Nash Equilibria of Multi-Agent Collaborative Field Coverage
Jushan Chen, Santiago Paternain
Multi-agent reinforcement learning is a challenging and active field of research due to the inherent nonstationary property and coupling between agents. A popular approach to model…
Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions
Zach Williams, Jushan Chen, Negar Mehr
In this work, we develop a scalable, local trajectory optimization algorithm that enables robots to interact with other robots. It has been shown that agents' interactions can be s…