Complex-valued GNNs using phase-equivariant activations achieve global basis invariance for distributed planar control, outperforming real-valued baselines in data efficiency, tracking, and generalization on flocking.
Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks
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Complex-Valued GNNs for Distributed Basis-Invariant Control of Planar Systems
Complex-valued GNNs using phase-equivariant activations achieve global basis invariance for distributed planar control, outperforming real-valued baselines in data efficiency, tracking, and generalization on flocking.