NeHMO approximates a safety value function via neural Hamilton-Jacobi reachability learning and integrates it into decentralized trajectory optimization for scalable safe multi-arm robotic motion planning.
Representation- optimal multi-robot motion planning using conflict-based search,
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NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning
NeHMO approximates a safety value function via neural Hamilton-Jacobi reachability learning and integrates it into decentralized trajectory optimization for scalable safe multi-arm robotic motion planning.