2 papers
cs.RO2026
Safety-Filtered Distributed Koopman-MPC
Shengjun Zhang, Wenhao Li, Zhenxin Lin +1
Distributed model predictive control (DMPC) often constructs both predictions and collision constraints from neighbor trajectories, so packet loss can remove both. We separate thes…
cs.LG2026
ZO-COSMO: Index-Free One-Hop Mixing for Decentralized Zeroth-Order Optimization
Shengjun Zhang, Tingyi Liu, Heng Zhang +1
Sparse communication in decentralized zeroth-order learning requires compatible peer-state coordinates. We characterize this one-hop condition and develop \textsf{ZO-COSMO}, coupli…