3 papers
cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
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…