4 papers
CREST: Constraint-Release Execution for Multi-Robot Warehouse Shelf Rearrangement
Jiaqi Tan, Yudong Luo, Sophia Huang +2
Double-Deck Multi-Agent Pickup and Delivery (DD-MAPD) models the multi-robot shelf rearrangement problem in automated warehouses. MAPF-DECOMP is a recent framework that first compu…
Reevaluation of Large Neighborhood Search for MAPF: Findings and Opportunities
Jiaqi Tan, Yudong Luo, Jiaoyang Li +1
Multi-Agent Path Finding (MAPF) aims to arrange collision-free goal-reaching paths for a group of agents. Anytime MAPF solvers based on large neighborhood search (LNS) have gained…
Measures of Variability for Risk-averse Policy Gradient
Yudong Luo, Yangchen Pan, Jiaqi Tan +1
Risk-averse reinforcement learning (RARL) is critical for decision-making under uncertainty, which is especially valuable in high-stake applications. However, most existing works f…
MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mapping
Jiacheng Chen, Yuefan Wu, Jiaqi Tan +2
This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time…