ATRS uses a shared neural policy in a multi-agent MDP to adaptively re-split trajectory segments during parallel ADMM optimization, cutting iterations by up to 26% and time by 19.1% with zero-shot generalization.
Finding locally optimal, collision-free trajectories with sequential con- vex optimization
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ATRS: Adaptive Trajectory Re-splitting via a Shared Neural Policy for Parallel Optimization
ATRS uses a shared neural policy in a multi-agent MDP to adaptively re-split trajectory segments during parallel ADMM optimization, cutting iterations by up to 26% and time by 19.1% with zero-shot generalization.