CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads

Collaborative transportation of cable-suspended payloads by teams of Unmanned Aerial Vehicles (UAVs) has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in compliance, making it attractive for applications ranging from disaster relief to precision logistics. However, multi-UAV coordination under disturbances, nonlinear payload dynamics, and slack--taut cable modes remains a challenging control problem. To our knowledge, no prior work has addressed these cable mode transitions in the multi-UAV context, instead relying on simplifying rigid-link assumptions. We propose CrazyMARL, a decentralized Reinforcement Learning (RL) framework for multi-UAV cable-suspended payload transport. Simulation results demonstrate that the learned policies can outperform classical decentralized controllers in terms of disturbance rejection and tracking precision, achieving an 80% recovery rate from harsh conditions compared to 44% for the baseline method. We also achieve successful zero-shot sim-to-real transfer and demonstrate that our policies are highly robust under harsh conditions, including wind, random external disturbances, and transitions between slack and taut cable dynamics. This work paves the way for autonomous, resilient UAV teams capable of executing complex payload missions in unstructured environments.

SVN-ICP: Uncertainty Estimation of ICP-based LiDAR Odometry using Stein Variational Newton

This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed specifically for fusing LiDAR odometry in multisensor systems, the proposed method ensures accurate pose estimation and consistent noise parameter inference, even in LiDAR-degraded environments. By approximating the posterior distribution using particles within the Stein Variational Inference framework, SVN-ICP eliminates the need for explicit noise modeling or manual parameter tuning. To evaluate its effectiveness, we integrate SVN-ICP into a simple error-state Kalman filter alongside an IMU and test it across multiple datasets spanning diverse environments and robot types. Extensive experimental results demonstrate that our approach outperforms best-in-class methods on challenging scenarios while providing reliable uncertainty estimates.

Regrasp Maps for Sequential Manipulation Planning

We consider manipulation problems in constrained and cluttered settings, which require several regrasps at unknown locations. We propose to inform an optimization-based task and motion planning (TAMP) solver with possible regrasp areas and grasp sequences to speed up the search. Our main idea is to use a state space abstraction, a regrasp map, capturing the combinations of available grasps in different parts of the configuration space, and allowing us to provide the solver with guesses for the mode switches and additional constraints for the object placements. By interleaving the creation of regrasp maps, their adaptation based on failed refinements, and solving TAMP (sub)problems, we are able to provide a robust search method for challenging regrasp manipulation problems.

Meta-Optimization and Program Search using Language Models for Task and Motion Planning

Intelligent interaction with the real world requires robotic agents to jointly reason over high-level plans and low-level controls. Task and motion planning (TAMP) addresses this by combining symbolic planning and continuous trajectory generation. Recently, foundation model approaches to TAMP have presented impressive results, including fast planning times and the execution of natural language instructions. Yet, the optimal interface between high-level planning and low-level motion generation remains an open question: prior approaches are limited by either too much abstraction (e.g., chaining simplified skill primitives) or a lack thereof (e.g., direct joint angle prediction). Our method introduces a novel technique employing a form of meta-optimization to address these issues by: (i) using program search over trajectory optimization problems as an interface between a foundation model and robot control, and (ii) leveraging a zero-order method to optimize numerical parameters in the foundation model output. Results on challenging object manipulation and drawing tasks confirm that our proposed method improves over prior TAMP approaches.

Amortized Safe Active Learning for Real-Time Decision-Making: Pretrained Neural Policies from Simulated Nonparametric Functions

Active Learning (AL) is a sequential learning approach aiming at selecting the most informative data for model training. In many systems, safety constraints appear during data evaluation, requiring the development of safe AL methods. Key challenges of AL are the repeated model training and acquisition optimization required for data selection, which become particularly restrictive under safety constraints. This repeated effort often creates a bottleneck, especially in physical systems requiring real-time decision-making. In this paper, we propose a novel amortized safe AL framework. By leveraging a pretrained neural network policy, our method eliminates the need for repeated model training and acquisition optimization, achieving substantial speed improvements while maintaining competitive learning outcomes and safety awareness. The policy is trained entirely on synthetic data utilizing a novel safe AL objective. The resulting policy is highly versatile and adapts to a wide range of systems, as we demonstrate in our experiments. Furthermore, our framework is modular and we empirically show that we also achieve superior performance for unconstrained time-sensitive AL tasks if we omit the safety requirement.

GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System

Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the environment is quasi-static, i.e., it is sufficient to construct a roadmap once and then use it for any future planning queries. Roadmaps are typically used with graph search algorithm to find feasible paths for the robots. Therefore, the roadmap should be well-connected, and graph searches should produce near-optimal solutions with short solution paths while simultaneously be computationally efficient to execute queries quickly. We propose a new method to construct roadmaps based on the Gray-Scott reaction diffusion system and Delaunay triangulation. Our approach, GSRM, produces roadmaps with evenly distributed vertices and edges that are well-connected even in environments with challenging narrow passages. Empirically, we compare to classical roadmaps generated by 8-connected grids, probabilistic roadmaps (PRM, SPARS2), and optimized roadmap graphs (ORM). Our results show that GSRM consistently produces superior roadmaps that are well-connected, have high query efficiency, and result in short solution paths.

Stein Variational Evolution Strategies

Stein Variational Gradient Descent (SVGD) is a highly efficient method to sample from an unnormalized probability distribution. However, the SVGD update relies on gradients of the log-density, which may not always be available. Existing gradient-free versions of SVGD make use of simple Monte Carlo approximations or gradients from surrogate distributions, both with limitations. To improve gradient-free Stein variational inference, we combine SVGD steps with evolution strategy (ES) updates. Our results demonstrate that the resulting algorithm generates high-quality samples from unnormalized target densities without requiring gradient information. Compared to prior gradient-free SVGD methods, we find that the integration of the ES update in SVGD significantly improves the performance on multiple challenging benchmark problems.

Amortized Active Learning for Nonparametric Functions

Active learning (AL) is a sequential learning scheme aiming to select the most informative data. AL reduces data consumption and avoids the cost of labeling large amounts of data. However, AL trains the model and solves an acquisition optimization for each selection. It becomes expensive when the model training or acquisition optimization is challenging. In this paper, we focus on active nonparametric function learning, where the gold standard Gaussian process (GP) approaches suffer from cubic time complexity. We propose an amortized AL method, where new data are suggested by a neural network which is trained up-front without any real data (Figure 1). Our method avoids repeated model training and requires no acquisition optimization during the AL deployment. We (i) utilize GPs as function priors to construct an AL simulator, (ii) train an AL policy that can zero-shot generalize from simulation to real learning problems of nonparametric functions and (iii) achieve real-time data selection and comparable learning performances to time-consuming baseline methods.

NLP Sampling: Combining MCMC and NLP Methods for Diverse Constrained Sampling

Generating diverse samples under hard constraints is a core challenge in many areas. With this work we aim to provide an integrative view and framework to combine methods from the fields of MCMC, constrained optimization, as well as robotics, and gain insights in their strengths from empirical evaluations. We propose NLP Sampling as a general problem formulation, propose a family of restarting two-phase methods as a framework to integrated methods from across the fields, and evaluate them on analytical and robotic manipulation planning problems. Complementary to this, we provide several conceptual discussions, e.g. on the role of Lagrange parameters, global sampling, and the idea of a Diffused NLP and a corresponding model-based denoising sampler.

Solving Sequential Manipulation Puzzles by Finding Easier Subproblems

We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notoriously difficult for Task-and-Motion Planners, as they require interdependent regrasps and solving hard motion planning problems. In this paper, we propose to search over sequences of easier pick-and-place subproblems, which can lead to the solution of the manipulation puzzle. Our method combines a heuristic-driven forward search of subproblems with an optimization-based Task-and-Motion Planning solver. To guide the search, we introduce heuristics to generate and prioritize useful subgoals. We evaluate our approach on various manually designed and automatically generated scenes, demonstrating the benefits of auxiliary subproblems in sequential manipulation planning.