A bi-level optimizer uses KKT conditions and the implicit function theorem to co-optimize agent trajectories and environment configurations, with a new measure-theoretic safety metric, yielding improved safety and efficiency in simulated navigation tasks.
Sdp-based joint sensor and controller design for information-regularized optimal lqg control,
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Differentiable Environment-Trajectory Co-Optimization for Safe Multi-Agent Navigation
A bi-level optimizer uses KKT conditions and the implicit function theorem to co-optimize agent trajectories and environment configurations, with a new measure-theoretic safety metric, yielding improved safety and efficiency in simulated navigation tasks.